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"subtasks", "start_step": 407, "end_step": 460, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 461, "end_step": 490, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 491, "end_step": 580, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 581, "end_step": 676, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 677, "end_step": 700, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 701, "end_step": 778, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 779, "end_step": 844, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 845, "end_step": 928, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 172, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 173, "end_step": 268, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 269, "end_step": 304, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 305, "end_step": 406, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 407, "end_step": 460, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 461, "end_step": 490, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 491, "end_step": 580, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 581, "end_step": 676, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 677, "end_step": 700, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 701, "end_step": 778, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 779, "end_step": 844, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 845, "end_step": 928, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into 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Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_19_52_23_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 0, "v40_language_source": "previous_published_lerobot", "episode_index": 0}
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"subtasks", "start_step": 559, "end_step": 630, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 631, "end_step": 654, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 655, "end_step": 750, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 751, "end_step": 816, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 817, "end_step": 840, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 841, "end_step": 948, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 949, "end_step": 1026, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1027, "end_step": 1097, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 174, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 175, "end_step": 270, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 271, "end_step": 306, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 307, "end_step": 558, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 559, "end_step": 630, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 631, "end_step": 654, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 655, "end_step": 750, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 751, "end_step": 816, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: 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Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_19_52_23_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 1, "v40_language_source": "previous_published_lerobot", "episode_index": 1}
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"task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 733, "end_step": 750, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 751, "end_step": 834, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 835, "end_step": 918, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 919, "end_step": 988, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into 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"subtasks", "start_step": 295, "end_step": 354, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 355, "end_step": 378, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 379, "end_step": 456, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 457, "end_step": 516, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 517, "end_step": 552, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 553, "end_step": 612, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 613, "end_step": 660, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 661, "end_step": 740, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 120, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 121, "end_step": 186, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 187, "end_step": 204, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 205, "end_step": 294, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 295, "end_step": 354, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 355, "end_step": 378, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 379, "end_step": 456, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 457, "end_step": 516, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 517, "end_step": 552, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 553, "end_step": 612, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 613, "end_step": 660, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 661, "end_step": 740, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into 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Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_19_52_23_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 3, "v40_language_source": "previous_published_lerobot", "episode_index": 3}
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"subtasks", "start_step": 283, "end_step": 324, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 325, "end_step": 348, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 349, "end_step": 690, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 691, "end_step": 750, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 751, "end_step": 768, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 769, "end_step": 858, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 859, "end_step": 948, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 949, "end_step": 1024, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 102, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 103, "end_step": 150, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 151, "end_step": 174, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 175, "end_step": 282, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 283, "end_step": 324, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 325, "end_step": 348, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 349, "end_step": 690, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 691, "end_step": 750, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 751, "end_step": 768, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 769, "end_step": 858, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 859, "end_step": 948, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 949, "end_step": 1024, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place 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Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_19_52_23_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 4, "v40_language_source": "previous_published_lerobot", "episode_index": 4}
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"subtasks", "start_step": 487, "end_step": 540, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 541, "end_step": 570, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 571, "end_step": 654, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 655, "end_step": 786, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 787, "end_step": 816, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 817, "end_step": 954, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 955, "end_step": 1056, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1057, "end_step": 1139, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 102, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 103, "end_step": 156, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 157, "end_step": 186, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 187, "end_step": 486, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 487, "end_step": 540, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 541, "end_step": 570, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 571, "end_step": 654, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 655, "end_step": 786, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: 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Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_19_52_23_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 5, "v40_language_source": "previous_published_lerobot", "episode_index": 5}
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"subtasks", "start_step": 283, "end_step": 330, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 331, "end_step": 360, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 361, "end_step": 426, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 427, "end_step": 486, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 487, "end_step": 510, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 511, "end_step": 570, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 571, "end_step": 624, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 625, "end_step": 702, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 120, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 121, "end_step": 180, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 181, "end_step": 210, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 211, "end_step": 282, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 283, "end_step": 330, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 331, "end_step": 360, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 361, "end_step": 426, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 427, "end_step": 486, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 487, "end_step": 510, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 511, "end_step": 570, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 571, "end_step": 624, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 625, "end_step": 702, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_19_52_23_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 6, "v40_language_source": "previous_published_lerobot", "episode_index": 6}
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The robot needs to collect the pens one by one and place them neatly into the pen holder.", "success_criteria": "All four pens are inside the pen holder and arranged neatly in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 126, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 127, "end_step": 192, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 193, "end_step": 222, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 223, "end_step": 306, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 307, "end_step": 372, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 373, "end_step": 402, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 403, "end_step": 474, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 475, "end_step": 546, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 547, "end_step": 570, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 571, "end_step": 630, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 631, "end_step": 702, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 703, "end_step": 782, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 126, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 127, "end_step": 192, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 193, "end_step": 222, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 223, "end_step": 306, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 307, "end_step": 372, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 373, "end_step": 402, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 403, "end_step": 474, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 475, "end_step": 546, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 547, "end_step": 570, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 571, "end_step": 630, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 631, "end_step": 702, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 703, "end_step": 782, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into 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Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_19_52_23_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 9, "v40_language_source": "previous_published_lerobot", "episode_index": 7}
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"subtasks", "start_step": 289, "end_step": 348, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 349, "end_step": 378, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 379, "end_step": 480, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 481, "end_step": 576, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 577, "end_step": 606, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 607, "end_step": 696, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 697, "end_step": 780, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 781, "end_step": 858, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 126, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 127, "end_step": 180, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 181, "end_step": 210, "id": "subtask-003", "text": "Place 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"task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 577, "end_step": 606, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 607, "end_step": 696, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 697, "end_step": 780, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 781, "end_step": 858, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into 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Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_19_52_23_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 11, "v40_language_source": "previous_published_lerobot", "episode_index": 8}
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"subtasks", "start_step": 289, "end_step": 342, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 343, "end_step": 372, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 373, "end_step": 456, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 457, "end_step": 540, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 541, "end_step": 570, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 571, "end_step": 666, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 667, "end_step": 726, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 727, "end_step": 800, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 126, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 127, "end_step": 180, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 181, "end_step": 216, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 217, "end_step": 288, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 289, "end_step": 342, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 343, "end_step": 372, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 373, "end_step": 456, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 457, "end_step": 540, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 541, "end_step": 570, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 571, "end_step": 666, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 667, "end_step": 726, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 727, "end_step": 800, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_19_52_23_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 12, "v40_language_source": "previous_published_lerobot", "episode_index": 9}
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The robot needs to collect the pens one by one and place them neatly into the pen holder.", "success_criteria": "All four pens are inside the pen holder and arranged neatly in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 120, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 121, "end_step": 174, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 175, "end_step": 210, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 211, "end_step": 276, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 277, "end_step": 342, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 343, "end_step": 372, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 373, "end_step": 468, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 469, "end_step": 552, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 553, "end_step": 582, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 583, "end_step": 654, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 655, "end_step": 726, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 727, "end_step": 814, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 120, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 121, "end_step": 174, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 175, "end_step": 210, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 211, "end_step": 276, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 277, "end_step": 342, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 343, "end_step": 372, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 373, "end_step": 468, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 469, "end_step": 552, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 553, "end_step": 582, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 583, "end_step": 654, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 655, "end_step": 726, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 727, "end_step": 814, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into 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Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_19_52_23_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 13, "v40_language_source": "previous_published_lerobot", "episode_index": 10}
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The robot needs to collect the pens one by one and place them neatly into the pen holder.", "success_criteria": "All four pens are inside the pen holder and arranged neatly in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 114, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 115, "end_step": 180, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 181, "end_step": 210, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 211, "end_step": 312, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 313, "end_step": 396, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 397, "end_step": 420, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 421, "end_step": 504, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 505, "end_step": 582, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 583, "end_step": 600, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 601, "end_step": 660, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 661, "end_step": 744, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 745, "end_step": 809, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 114, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 115, "end_step": 180, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 181, "end_step": 210, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 211, "end_step": 312, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 313, "end_step": 396, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 397, "end_step": 420, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 421, "end_step": 504, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 505, "end_step": 582, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 583, "end_step": 600, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 601, "end_step": 660, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 661, "end_step": 744, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 745, "end_step": 809, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into 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Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_19_52_23_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 14, "v40_language_source": "previous_published_lerobot", "episode_index": 11}
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"subtasks", "start_step": 313, "end_step": 396, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 397, "end_step": 420, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 421, "end_step": 516, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 517, "end_step": 594, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 595, "end_step": 612, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 613, "end_step": 684, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 685, "end_step": 744, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 745, "end_step": 830, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 126, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 127, "end_step": 198, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 199, "end_step": 234, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 235, "end_step": 312, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 313, "end_step": 396, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 397, "end_step": 420, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 421, "end_step": 516, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 517, "end_step": 594, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 595, "end_step": 612, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 613, "end_step": 684, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 685, "end_step": 744, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 745, "end_step": 830, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_19_52_23_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 15, "v40_language_source": "previous_published_lerobot", "episode_index": 12}
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The robot needs to collect the pens one by one and place them neatly into the pen holder.", "success_criteria": "All four pens are inside the pen holder and arranged neatly in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 108, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 109, "end_step": 174, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 175, "end_step": 198, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 199, "end_step": 288, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 289, "end_step": 372, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 373, "end_step": 402, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 403, "end_step": 504, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 505, "end_step": 600, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 601, "end_step": 630, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 631, "end_step": 744, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 745, "end_step": 828, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 829, "end_step": 911, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 108, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 109, "end_step": 174, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 175, "end_step": 198, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 199, "end_step": 288, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 289, "end_step": 372, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 373, "end_step": 402, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 403, "end_step": 504, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 505, "end_step": 600, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 601, "end_step": 630, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 631, "end_step": 744, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 745, "end_step": 828, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 829, "end_step": 911, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into 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Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_19_52_23_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 16, "v40_language_source": "previous_published_lerobot", "episode_index": 13}
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The robot needs to collect the pens one by one and place them neatly into the pen holder.", "success_criteria": "All four pens are inside the pen holder and arranged neatly in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 126, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 127, "end_step": 192, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 193, "end_step": 216, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 217, "end_step": 318, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 319, "end_step": 414, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 415, "end_step": 444, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 445, "end_step": 540, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 541, "end_step": 612, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 613, "end_step": 648, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 649, "end_step": 708, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 709, "end_step": 774, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 775, "end_step": 851, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 126, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 127, "end_step": 192, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 193, "end_step": 216, "id": "subtask-003", "text": "Place 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"task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 613, "end_step": 648, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 649, "end_step": 708, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 709, "end_step": 774, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 775, "end_step": 851, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into 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Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_19_52_23_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 18, "v40_language_source": "previous_published_lerobot", "episode_index": 14}
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"subtasks", "start_step": 325, "end_step": 384, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 385, "end_step": 414, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 415, "end_step": 486, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 487, "end_step": 564, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 565, "end_step": 582, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 583, "end_step": 660, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 661, "end_step": 726, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 727, "end_step": 805, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 156, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 157, "end_step": 222, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 223, "end_step": 252, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 253, "end_step": 324, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 325, "end_step": 384, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 385, "end_step": 414, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 415, "end_step": 486, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 487, "end_step": 564, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 565, "end_step": 582, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 583, "end_step": 660, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 661, "end_step": 726, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 727, "end_step": 805, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into 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Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_19_52_23_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 19, "v40_language_source": "previous_published_lerobot", "episode_index": 15}
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The robot needs to collect the pens one by one and place them neatly into the pen holder.", "success_criteria": "All four pens are inside the pen holder and arranged neatly in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 162, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 163, "end_step": 240, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 241, "end_step": 270, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 271, "end_step": 348, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 349, "end_step": 414, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 415, "end_step": 450, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 451, "end_step": 546, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 547, "end_step": 618, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 619, "end_step": 648, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 649, "end_step": 750, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 751, "end_step": 816, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 817, "end_step": 886, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 162, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 163, "end_step": 240, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 241, "end_step": 270, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 271, "end_step": 348, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 349, "end_step": 414, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 415, "end_step": 450, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 451, "end_step": 546, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 547, "end_step": 618, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 619, "end_step": 648, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 649, "end_step": 750, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 751, "end_step": 816, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 817, "end_step": 886, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into 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Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_19_52_23_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 20, "v40_language_source": "previous_published_lerobot", "episode_index": 16}
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The robot needs to collect the pens one by one and place them neatly into the pen holder.", "success_criteria": "All four pens are inside the pen holder and arranged neatly in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 138, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 139, "end_step": 198, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 199, "end_step": 222, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 223, "end_step": 306, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 307, "end_step": 366, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 367, "end_step": 390, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 391, "end_step": 492, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 493, "end_step": 582, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 583, "end_step": 600, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 601, "end_step": 714, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 715, "end_step": 792, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 793, "end_step": 871, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 138, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 139, "end_step": 198, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 199, "end_step": 222, "id": "subtask-003", "text": "Place 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"task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 583, "end_step": 600, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 601, "end_step": 714, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 715, "end_step": 792, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 793, "end_step": 871, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into 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Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_19_52_23_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 21, "v40_language_source": "previous_published_lerobot", "episode_index": 17}
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"subtasks", "start_step": 319, "end_step": 384, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 385, "end_step": 408, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 409, "end_step": 498, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 499, "end_step": 552, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 553, "end_step": 576, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 577, "end_step": 690, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 691, "end_step": 768, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 769, "end_step": 837, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 150, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 151, "end_step": 210, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 211, "end_step": 234, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 235, "end_step": 318, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 319, "end_step": 384, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 385, "end_step": 408, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 409, "end_step": 498, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 499, "end_step": 552, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 553, "end_step": 576, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 577, "end_step": 690, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 691, "end_step": 768, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 769, "end_step": 837, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_19_52_23_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 22, "v40_language_source": "previous_published_lerobot", "episode_index": 18}
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The robot needs to collect the pens one by one and place them neatly into the pen holder.", "success_criteria": "All four pens are inside the pen holder and arranged neatly in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 150, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 151, "end_step": 216, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 217, "end_step": 246, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 247, "end_step": 342, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 343, "end_step": 414, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 415, "end_step": 438, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 439, "end_step": 516, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 517, "end_step": 576, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 577, "end_step": 594, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 595, "end_step": 672, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 673, "end_step": 732, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 733, "end_step": 828, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 150, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 151, "end_step": 216, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 217, "end_step": 246, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 247, "end_step": 342, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 343, "end_step": 414, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 415, "end_step": 438, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 439, "end_step": 516, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 517, "end_step": 576, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 577, "end_step": 594, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 595, "end_step": 672, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 673, "end_step": 732, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 733, "end_step": 828, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into 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Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_19_52_23_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 23, "v40_language_source": "previous_published_lerobot", "episode_index": 19}
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The robot needs to collect the pens one by one and place them neatly into the pen holder.", "success_criteria": "All four pens are inside the pen holder and arranged neatly in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 162, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 163, "end_step": 222, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 223, "end_step": 252, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 253, "end_step": 348, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 349, "end_step": 432, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 433, "end_step": 444, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 445, "end_step": 516, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 517, "end_step": 582, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 583, "end_step": 612, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 613, "end_step": 738, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 739, "end_step": 834, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 835, "end_step": 911, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 162, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 163, "end_step": 222, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 223, "end_step": 252, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 253, "end_step": 348, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 349, "end_step": 432, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 433, "end_step": 444, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 445, "end_step": 516, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 517, "end_step": 582, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 583, "end_step": 612, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 613, "end_step": 738, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 739, "end_step": 834, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 835, "end_step": 911, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into 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Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_19_52_23_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 24, "v40_language_source": "previous_published_lerobot", "episode_index": 20}
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"subtasks", "start_step": 253, "end_step": 324, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 325, "end_step": 360, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 361, "end_step": 456, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 457, "end_step": 540, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 541, "end_step": 570, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 571, "end_step": 708, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 709, "end_step": 792, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 793, "end_step": 874, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 108, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 109, "end_step": 168, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 169, "end_step": 192, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 193, "end_step": 252, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 253, "end_step": 324, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 325, "end_step": 360, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 361, "end_step": 456, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 457, "end_step": 540, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 541, "end_step": 570, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 571, "end_step": 708, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 709, "end_step": 792, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 793, "end_step": 874, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_19_52_23_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 25, "v40_language_source": "previous_published_lerobot", "episode_index": 21}
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The robot needs to collect the pens one by one and place them neatly into the pen holder.", "success_criteria": "All four pens are inside the pen holder and arranged neatly in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 282, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 283, "end_step": 354, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 355, "end_step": 384, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 385, "end_step": 504, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 505, "end_step": 588, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 589, "end_step": 612, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 613, "end_step": 720, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 721, "end_step": 804, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 805, "end_step": 852, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 853, "end_step": 924, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 925, "end_step": 996, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 997, "end_step": 1078, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 282, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 283, "end_step": 354, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 355, "end_step": 384, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 385, "end_step": 504, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 505, "end_step": 588, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 589, "end_step": 612, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 613, "end_step": 720, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 721, "end_step": 804, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 805, "end_step": 852, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 853, "end_step": 924, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 925, "end_step": 996, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 997, "end_step": 1078, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place 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Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_19_52_23_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 27, "v40_language_source": "previous_published_lerobot", "episode_index": 22}
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The robot needs to collect the pens one by one and place them neatly into the pen holder.", "success_criteria": "All four pens are inside the pen holder and arranged neatly in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 150, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 151, "end_step": 252, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 253, "end_step": 288, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 289, "end_step": 440, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 441, "end_step": 500, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 501, "end_step": 530, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 531, "end_step": 596, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 597, "end_step": 662, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 663, "end_step": 686, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 687, "end_step": 752, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 753, "end_step": 830, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 831, "end_step": 914, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 150, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 151, "end_step": 252, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 253, "end_step": 288, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 289, "end_step": 440, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 441, "end_step": 500, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 501, "end_step": 530, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 531, "end_step": 596, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 597, "end_step": 662, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 663, "end_step": 686, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 687, "end_step": 752, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 753, "end_step": 830, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 831, "end_step": 914, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into 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Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_19_52_23_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 29, "v40_language_source": "previous_published_lerobot", "episode_index": 23}
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"subtasks", "start_step": 540, "end_step": 617, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 618, "end_step": 647, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 648, "end_step": 707, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 708, "end_step": 779, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 780, "end_step": 803, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 804, "end_step": 857, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 858, "end_step": 983, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 984, "end_step": 1053, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 126, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 127, "end_step": 198, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 199, "end_step": 222, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 223, "end_step": 539, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 540, "end_step": 617, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 618, "end_step": 647, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 648, "end_step": 707, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 708, "end_step": 779, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 780, "end_step": 803, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 804, "end_step": 857, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 858, "end_step": 983, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 984, "end_step": 1053, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_19_52_23_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 30, "v40_language_source": "previous_published_lerobot", "episode_index": 24}
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The robot needs to collect the pens one by one and place them neatly into the pen holder.", "success_criteria": "All four pens are inside the pen holder and arranged neatly in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 144, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 145, "end_step": 240, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 241, "end_step": 264, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 265, "end_step": 360, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 361, "end_step": 444, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 445, "end_step": 474, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 475, "end_step": 546, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 547, "end_step": 624, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 625, "end_step": 654, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 655, "end_step": 732, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 733, "end_step": 822, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 823, "end_step": 900, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 144, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 145, "end_step": 240, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 241, "end_step": 264, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 265, "end_step": 360, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 361, "end_step": 444, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 445, "end_step": 474, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 475, "end_step": 546, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 547, "end_step": 624, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 625, "end_step": 654, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 655, "end_step": 732, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 733, "end_step": 822, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 823, "end_step": 900, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into 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Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_19_52_23_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 31, "v40_language_source": "previous_published_lerobot", "episode_index": 25}
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The robot needs to collect the pens one by one and place them neatly into the pen holder.", "success_criteria": "All four pens are inside the pen holder and arranged neatly in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 156, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 157, "end_step": 246, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 247, "end_step": 276, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 277, "end_step": 378, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 379, "end_step": 462, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 463, "end_step": 486, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 487, "end_step": 582, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 583, "end_step": 666, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 667, "end_step": 690, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 691, "end_step": 774, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 775, "end_step": 888, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 889, "end_step": 957, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 156, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 157, "end_step": 246, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 247, "end_step": 276, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 277, "end_step": 378, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 379, "end_step": 462, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 463, "end_step": 486, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 487, "end_step": 582, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 583, "end_step": 666, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 667, "end_step": 690, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 691, "end_step": 774, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 775, "end_step": 888, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 889, "end_step": 957, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into 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Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_19_52_23_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 32, "v40_language_source": "previous_published_lerobot", "episode_index": 26}
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"subtasks", "start_step": 379, "end_step": 468, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 469, "end_step": 492, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 493, "end_step": 588, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 589, "end_step": 654, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 655, "end_step": 684, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 685, "end_step": 780, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 781, "end_step": 858, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 859, "end_step": 926, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 144, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 145, "end_step": 234, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 235, "end_step": 258, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 259, "end_step": 378, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 379, "end_step": 468, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 469, "end_step": 492, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 493, "end_step": 588, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 589, "end_step": 654, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 655, "end_step": 684, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 685, "end_step": 780, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 781, "end_step": 858, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 859, "end_step": 926, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into 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Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_19_52_23_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 33, "v40_language_source": "previous_published_lerobot", "episode_index": 27}
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"subtasks", "start_step": 361, "end_step": 420, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 421, "end_step": 450, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 451, "end_step": 528, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 529, "end_step": 594, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 595, "end_step": 642, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 643, "end_step": 726, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 727, "end_step": 804, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 805, "end_step": 867, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 144, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 145, "end_step": 222, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 223, "end_step": 252, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 253, "end_step": 360, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 361, "end_step": 420, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 421, "end_step": 450, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 451, "end_step": 528, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 529, "end_step": 594, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 595, "end_step": 642, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 643, "end_step": 726, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 727, "end_step": 804, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 805, "end_step": 867, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into 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Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_19_52_23_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 34, "v40_language_source": "previous_published_lerobot", "episode_index": 28}
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"subtasks", "start_step": 337, "end_step": 432, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 433, "end_step": 456, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 457, "end_step": 582, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 583, "end_step": 678, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 679, "end_step": 702, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 703, "end_step": 774, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 775, "end_step": 852, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 853, "end_step": 926, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 156, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 157, "end_step": 246, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 247, "end_step": 276, "id": "subtask-003", "text": "Place 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"task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 679, "end_step": 702, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 703, "end_step": 774, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 775, "end_step": 852, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 853, "end_step": 926, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into 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Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_19_52_23_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 36, "v40_language_source": "previous_published_lerobot", "episode_index": 29}
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"subtasks", "start_step": 325, "end_step": 378, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 379, "end_step": 408, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 409, "end_step": 492, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 493, "end_step": 588, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 589, "end_step": 618, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 619, "end_step": 714, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 715, "end_step": 792, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 793, "end_step": 864, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 138, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 139, "end_step": 198, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 199, "end_step": 228, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 229, "end_step": 324, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 325, "end_step": 378, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 379, "end_step": 408, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 409, "end_step": 492, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 493, "end_step": 588, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 589, "end_step": 618, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 619, "end_step": 714, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 715, "end_step": 792, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 793, "end_step": 864, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into 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Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_19_52_23_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 40, "v40_language_source": "previous_published_lerobot", "episode_index": 30}
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"subtasks", "start_step": 331, "end_step": 384, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 385, "end_step": 408, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 409, "end_step": 504, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 505, "end_step": 702, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 703, "end_step": 756, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 757, "end_step": 804, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 805, "end_step": 894, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 895, "end_step": 967, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 162, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 163, "end_step": 234, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 235, "end_step": 258, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 259, "end_step": 330, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 331, "end_step": 384, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 385, "end_step": 408, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 409, "end_step": 504, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 505, "end_step": 702, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 703, "end_step": 756, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 757, "end_step": 804, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 805, "end_step": 894, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 895, "end_step": 967, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into 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Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_19_52_23_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 42, "v40_language_source": "previous_published_lerobot", "episode_index": 31}
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"subtasks", "start_step": 289, "end_step": 366, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 367, "end_step": 402, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 403, "end_step": 486, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 487, "end_step": 564, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 565, "end_step": 594, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 595, "end_step": 684, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 685, "end_step": 756, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 757, "end_step": 830, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 120, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 121, "end_step": 174, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 175, "end_step": 204, "id": "subtask-003", "text": "Place 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"task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 565, "end_step": 594, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 595, "end_step": 684, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 685, "end_step": 756, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 757, "end_step": 830, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into 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Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_19_52_23_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 44, "v40_language_source": "previous_published_lerobot", "episode_index": 32}
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"subtasks", "start_step": 421, "end_step": 504, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 505, "end_step": 534, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 535, "end_step": 594, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 595, "end_step": 672, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 673, "end_step": 696, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 697, "end_step": 774, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 775, "end_step": 840, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 841, "end_step": 923, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 174, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 175, "end_step": 276, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 277, "end_step": 300, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 301, "end_step": 420, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 421, "end_step": 504, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 505, "end_step": 534, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 535, "end_step": 594, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 595, "end_step": 672, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 673, "end_step": 696, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 697, "end_step": 774, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 775, "end_step": 840, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 841, "end_step": 923, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_19_52_23_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 45, "v40_language_source": "previous_published_lerobot", "episode_index": 33}
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The robot needs to collect the pens one by one and place them neatly into the pen holder.", "success_criteria": "All four pens are inside the pen holder and arranged neatly in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 144, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 145, "end_step": 216, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 217, "end_step": 240, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 241, "end_step": 330, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 331, "end_step": 462, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 463, "end_step": 486, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 487, "end_step": 570, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 571, "end_step": 648, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 649, "end_step": 678, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 679, "end_step": 756, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 757, "end_step": 822, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 823, "end_step": 888, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 144, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 145, "end_step": 216, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 217, "end_step": 240, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 241, "end_step": 330, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 331, "end_step": 462, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 463, "end_step": 486, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 487, "end_step": 570, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 571, "end_step": 648, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 649, "end_step": 678, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 679, "end_step": 756, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 757, "end_step": 822, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 823, "end_step": 888, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into 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Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_19_52_23_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 46, "v40_language_source": "previous_published_lerobot", "episode_index": 34}
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The robot needs to collect the pens one by one and place them neatly into the pen holder.", "success_criteria": "All four pens are inside the pen holder and arranged neatly in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 120, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 121, "end_step": 192, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 193, "end_step": 222, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 223, "end_step": 306, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 307, "end_step": 426, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 427, "end_step": 462, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 463, "end_step": 540, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 541, "end_step": 624, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 625, "end_step": 654, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 655, "end_step": 756, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 757, "end_step": 834, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 835, "end_step": 914, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 120, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 121, "end_step": 192, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 193, "end_step": 222, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 223, "end_step": 306, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 307, "end_step": 426, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 427, "end_step": 462, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 463, "end_step": 540, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 541, "end_step": 624, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 625, "end_step": 654, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 655, "end_step": 756, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 757, "end_step": 834, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 835, "end_step": 914, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into 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Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_19_52_23_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 47, "v40_language_source": "previous_published_lerobot", "episode_index": 35}
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"subtasks", "start_step": 373, "end_step": 510, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 511, "end_step": 558, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 559, "end_step": 828, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 829, "end_step": 960, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 961, "end_step": 990, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 991, "end_step": 1056, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1057, "end_step": 1134, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1135, "end_step": 1205, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 126, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 127, "end_step": 198, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 199, "end_step": 228, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 229, "end_step": 372, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 373, "end_step": 510, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 511, "end_step": 558, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 559, "end_step": 828, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 829, "end_step": 960, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 961, "end_step": 990, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 991, "end_step": 1056, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1057, "end_step": 1134, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1135, "end_step": 1205, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_19_52_23_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 48, "v40_language_source": "previous_published_lerobot", "episode_index": 36}
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The robot needs to collect the pens one by one and place them neatly into the pen holder.", "success_criteria": "All four pens are inside the pen holder and arranged neatly in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 132, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 133, "end_step": 210, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 211, "end_step": 252, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 253, "end_step": 384, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 385, "end_step": 474, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 475, "end_step": 504, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 505, "end_step": 612, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 613, "end_step": 690, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 691, "end_step": 720, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 721, "end_step": 828, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 829, "end_step": 918, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 919, "end_step": 993, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 132, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 133, "end_step": 210, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 211, "end_step": 252, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 253, "end_step": 384, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 385, "end_step": 474, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 475, "end_step": 504, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 505, "end_step": 612, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 613, "end_step": 690, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 691, "end_step": 720, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 721, "end_step": 828, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 829, "end_step": 918, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 919, "end_step": 993, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into 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Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_19_52_23_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 49, "v40_language_source": "previous_published_lerobot", "episode_index": 37}
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The robot needs to collect the pens one by one and place them neatly into the pen holder.", "success_criteria": "All four pens are inside the pen holder and arranged neatly in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 108, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 109, "end_step": 186, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 187, "end_step": 222, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 223, "end_step": 342, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 343, "end_step": 510, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 511, "end_step": 552, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 553, "end_step": 618, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 619, "end_step": 714, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 715, "end_step": 750, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 751, "end_step": 828, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 829, "end_step": 894, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 895, "end_step": 970, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 108, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 109, "end_step": 186, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 187, "end_step": 222, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 223, "end_step": 342, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 343, "end_step": 510, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 511, "end_step": 552, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 553, "end_step": 618, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 619, "end_step": 714, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 715, "end_step": 750, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 751, "end_step": 828, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 829, "end_step": 894, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 895, "end_step": 970, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into 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Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_19_52_23_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 50, "v40_language_source": "previous_published_lerobot", "episode_index": 38}
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The robot needs to collect the pens one by one and place them neatly into the pen holder.", "success_criteria": "All four pens are inside the pen holder and arranged neatly in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 144, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 145, "end_step": 222, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 223, "end_step": 252, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 253, "end_step": 324, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 325, "end_step": 384, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 385, "end_step": 408, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 409, "end_step": 492, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 493, "end_step": 558, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 559, "end_step": 594, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 595, "end_step": 678, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 679, "end_step": 792, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 793, "end_step": 876, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 144, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 145, "end_step": 222, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 223, "end_step": 252, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 253, "end_step": 324, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 325, "end_step": 384, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 385, "end_step": 408, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 409, "end_step": 492, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 493, "end_step": 558, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 559, "end_step": 594, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 595, "end_step": 678, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 679, "end_step": 792, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 793, "end_step": 876, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_19_52_23_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 51, "v40_language_source": "previous_published_lerobot", "episode_index": 39}
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The robot needs to collect the pens one by one and place them neatly into the pen holder.", "success_criteria": "All four pens are inside the pen holder and arranged neatly in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 126, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 127, "end_step": 204, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 205, "end_step": 228, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 229, "end_step": 306, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 307, "end_step": 414, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 415, "end_step": 444, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 445, "end_step": 510, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 511, "end_step": 570, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 571, "end_step": 600, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 601, "end_step": 696, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 697, "end_step": 792, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 793, "end_step": 869, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 126, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 127, "end_step": 204, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 205, "end_step": 228, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 229, "end_step": 306, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 307, "end_step": 414, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 415, "end_step": 444, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 445, "end_step": 510, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 511, "end_step": 570, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 571, "end_step": 600, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 601, "end_step": 696, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 697, "end_step": 792, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 793, "end_step": 869, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into 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Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_19_52_23_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 52, "v40_language_source": "previous_published_lerobot", "episode_index": 40}
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The robot needs to collect the pens one by one and place them neatly into the pen holder.", "success_criteria": "All four pens are inside the pen holder and arranged neatly in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 108, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 109, "end_step": 186, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 187, "end_step": 210, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 211, "end_step": 324, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 325, "end_step": 438, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 439, "end_step": 468, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 469, "end_step": 522, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 523, "end_step": 642, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 643, "end_step": 678, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 679, "end_step": 780, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 781, "end_step": 882, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 883, "end_step": 959, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 108, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 109, "end_step": 186, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 187, "end_step": 210, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 211, "end_step": 324, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 325, "end_step": 438, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 439, "end_step": 468, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 469, "end_step": 522, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 523, "end_step": 642, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 643, "end_step": 678, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 679, "end_step": 780, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 781, "end_step": 882, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 883, "end_step": 959, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into 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Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_19_52_23_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 53, "v40_language_source": "previous_published_lerobot", "episode_index": 41}
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"subtasks", "start_step": 307, "end_step": 378, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 379, "end_step": 408, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 409, "end_step": 462, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 463, "end_step": 540, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 541, "end_step": 564, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 565, "end_step": 786, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 787, "end_step": 864, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 865, "end_step": 934, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 150, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 151, "end_step": 216, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 217, "end_step": 240, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 241, "end_step": 306, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 307, "end_step": 378, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 379, "end_step": 408, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 409, "end_step": 462, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 463, "end_step": 540, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 541, "end_step": 564, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 565, "end_step": 786, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 787, "end_step": 864, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 865, "end_step": 934, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_19_52_23_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 54, "v40_language_source": "previous_published_lerobot", "episode_index": 42}
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The robot needs to collect the pens one by one and place them neatly into the pen holder.", "success_criteria": "All four pens are inside the pen holder and arranged neatly in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 150, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 151, "end_step": 222, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 223, "end_step": 246, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 247, "end_step": 354, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 355, "end_step": 432, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 433, "end_step": 456, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 457, "end_step": 540, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 541, "end_step": 612, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 613, "end_step": 636, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 637, "end_step": 714, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 715, "end_step": 780, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 781, "end_step": 845, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 150, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 151, "end_step": 222, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 223, "end_step": 246, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 247, "end_step": 354, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 355, "end_step": 432, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 433, "end_step": 456, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 457, "end_step": 540, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 541, "end_step": 612, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 613, "end_step": 636, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 637, "end_step": 714, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 715, "end_step": 780, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 781, "end_step": 845, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into 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Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_19_52_23_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 55, "v40_language_source": "previous_published_lerobot", "episode_index": 43}
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The robot needs to collect the pens one by one and place them neatly into the pen holder.", "success_criteria": "All four pens are inside the pen holder and arranged neatly in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 132, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 133, "end_step": 228, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 229, "end_step": 258, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 259, "end_step": 348, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 349, "end_step": 468, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 469, "end_step": 492, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 493, "end_step": 588, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 589, "end_step": 744, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 745, "end_step": 774, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 775, "end_step": 870, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 871, "end_step": 954, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 955, "end_step": 1019, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 132, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 133, "end_step": 228, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 229, "end_step": 258, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 259, "end_step": 348, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 349, "end_step": 468, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 469, "end_step": 492, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 493, "end_step": 588, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 589, "end_step": 744, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: 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it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_19_52_23_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 56, "v40_language_source": "previous_published_lerobot", "episode_index": 44}
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The robot needs to collect the pens one by one and place them neatly into the pen holder.", "success_criteria": "All four pens are inside the pen holder and arranged neatly in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 108, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 109, "end_step": 174, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 175, "end_step": 204, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 205, "end_step": 258, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 259, "end_step": 558, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 559, "end_step": 594, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 595, "end_step": 702, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 703, "end_step": 846, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 847, "end_step": 870, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 871, "end_step": 972, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 973, "end_step": 1062, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1063, "end_step": 1136, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 108, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 109, "end_step": 174, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 175, "end_step": 204, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 205, "end_step": 258, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 259, "end_step": 558, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 559, "end_step": 594, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 595, "end_step": 702, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 703, "end_step": 846, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 847, "end_step": 870, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 871, "end_step": 972, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 973, "end_step": 1062, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1063, "end_step": 1136, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_19_52_23_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 57, "v40_language_source": "previous_published_lerobot", "episode_index": 45}
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The robot needs to collect the pens one by one and place them neatly into the pen holder.", "success_criteria": "All four pens are inside the pen holder and arranged neatly in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 132, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 133, "end_step": 198, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 199, "end_step": 222, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 223, "end_step": 312, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 313, "end_step": 378, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 379, "end_step": 420, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 421, "end_step": 510, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 511, "end_step": 630, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 631, "end_step": 672, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 673, "end_step": 756, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 757, "end_step": 858, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 859, "end_step": 936, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 132, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 133, "end_step": 198, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 199, "end_step": 222, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 223, "end_step": 312, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 313, "end_step": 378, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 379, "end_step": 420, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 421, "end_step": 510, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 511, "end_step": 630, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 631, "end_step": 672, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 673, "end_step": 756, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 757, "end_step": 858, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 859, "end_step": 936, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into 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Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_19_52_23_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 58, "v40_language_source": "previous_published_lerobot", "episode_index": 46}
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The robot needs to collect the pens one by one and place them neatly into the pen holder.", "success_criteria": "All four pens are inside the pen holder and arranged neatly in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 150, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 151, "end_step": 240, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 241, "end_step": 270, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 271, "end_step": 396, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 397, "end_step": 498, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 499, "end_step": 528, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 529, "end_step": 600, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 601, "end_step": 678, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 679, "end_step": 702, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 703, "end_step": 780, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 781, "end_step": 852, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 853, "end_step": 926, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 150, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 151, "end_step": 240, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 241, "end_step": 270, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 271, "end_step": 396, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 397, "end_step": 498, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 499, "end_step": 528, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 529, "end_step": 600, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 601, "end_step": 678, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 679, "end_step": 702, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 703, "end_step": 780, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 781, "end_step": 852, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 853, "end_step": 926, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into 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Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_19_52_23_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 59, "v40_language_source": "previous_published_lerobot", "episode_index": 47}
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"subtasks", "start_step": 313, "end_step": 420, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 421, "end_step": 456, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 457, "end_step": 528, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 529, "end_step": 636, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 637, "end_step": 672, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 673, "end_step": 1002, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1003, "end_step": 1086, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1087, "end_step": 1159, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 126, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 127, "end_step": 216, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 217, "end_step": 246, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 247, "end_step": 312, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 313, "end_step": 420, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 421, "end_step": 456, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 457, "end_step": 528, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 529, "end_step": 636, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 637, "end_step": 672, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 673, "end_step": 1002, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1003, "end_step": 1086, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1087, "end_step": 1159, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_19_52_23_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 60, "v40_language_source": "previous_published_lerobot", "episode_index": 48}
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The robot needs to collect the pens one by one and place them neatly into the pen holder.", "success_criteria": "All four pens are inside the pen holder and arranged neatly in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 120, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 121, "end_step": 186, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 187, "end_step": 210, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 211, "end_step": 294, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 295, "end_step": 372, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 373, "end_step": 396, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 397, "end_step": 450, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 451, "end_step": 522, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 523, "end_step": 552, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 553, "end_step": 648, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 649, "end_step": 720, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 721, "end_step": 795, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 120, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 121, "end_step": 186, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 187, "end_step": 210, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 211, "end_step": 294, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 295, "end_step": 372, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 373, "end_step": 396, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 397, "end_step": 450, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 451, "end_step": 522, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 523, "end_step": 552, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 553, "end_step": 648, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 649, "end_step": 720, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 721, "end_step": 795, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into 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Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_19_52_23_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 61, "v40_language_source": "previous_published_lerobot", "episode_index": 49}
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The robot needs to collect the pens one by one and place them neatly into the pen holder.", "success_criteria": "All four pens are inside the pen holder and arranged neatly in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 108, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 109, "end_step": 174, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 175, "end_step": 204, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 205, "end_step": 270, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 271, "end_step": 324, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 325, "end_step": 360, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 361, "end_step": 420, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 421, "end_step": 516, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 517, "end_step": 546, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 547, "end_step": 642, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 643, "end_step": 756, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 757, "end_step": 831, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 108, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 109, "end_step": 174, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 175, "end_step": 204, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 205, "end_step": 270, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 271, "end_step": 324, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 325, "end_step": 360, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 361, "end_step": 420, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 421, "end_step": 516, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 517, "end_step": 546, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 547, "end_step": 642, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 643, "end_step": 756, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 757, "end_step": 831, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into 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Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_19_52_23_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 62, "v40_language_source": "previous_published_lerobot", "episode_index": 50}
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"subtasks", "start_step": 277, "end_step": 324, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 325, "end_step": 354, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 355, "end_step": 636, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 637, "end_step": 708, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 709, "end_step": 744, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 745, "end_step": 798, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 799, "end_step": 876, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 877, "end_step": 952, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 114, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 115, "end_step": 186, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 187, "end_step": 210, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 211, "end_step": 276, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 277, "end_step": 324, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 325, "end_step": 354, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 355, "end_step": 636, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 637, "end_step": 708, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 709, "end_step": 744, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 745, "end_step": 798, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 799, "end_step": 876, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 877, "end_step": 952, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_19_52_23_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 63, "v40_language_source": "previous_published_lerobot", "episode_index": 51}
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The robot needs to collect the pens one by one and place them neatly into the pen holder.", "success_criteria": "All four pens are inside the pen holder and arranged neatly in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 120, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 121, "end_step": 216, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 217, "end_step": 246, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 247, "end_step": 330, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 331, "end_step": 414, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 415, "end_step": 438, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 439, "end_step": 516, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 517, "end_step": 636, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 637, "end_step": 666, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 667, "end_step": 768, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 769, "end_step": 828, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 829, "end_step": 890, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 120, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 121, "end_step": 216, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 217, "end_step": 246, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 247, "end_step": 330, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 331, "end_step": 414, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 415, "end_step": 438, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 439, "end_step": 516, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 517, "end_step": 636, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 637, "end_step": 666, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 667, "end_step": 768, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 769, "end_step": 828, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 829, "end_step": 890, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into 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Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_19_52_23_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 64, "v40_language_source": "previous_published_lerobot", "episode_index": 52}
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The robot needs to collect the pens one by one and place them neatly into the pen holder.", "success_criteria": "All four pens are inside the pen holder and arranged neatly in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 138, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 139, "end_step": 204, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 205, "end_step": 240, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 241, "end_step": 318, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 319, "end_step": 384, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 385, "end_step": 414, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 415, "end_step": 498, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 499, "end_step": 564, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 565, "end_step": 606, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 607, "end_step": 726, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 727, "end_step": 810, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 811, "end_step": 886, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 138, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 139, "end_step": 204, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 205, "end_step": 240, "id": "subtask-003", "text": "Place 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"task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 565, "end_step": 606, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 607, "end_step": 726, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 727, "end_step": 810, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 811, "end_step": 886, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into 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Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_19_52_23_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 65, "v40_language_source": "previous_published_lerobot", "episode_index": 53}
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The robot needs to collect the pens one by one and place them neatly into the pen holder.", "success_criteria": "All four pens are inside the pen holder and arranged neatly in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 150, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 151, "end_step": 222, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 223, "end_step": 264, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 265, "end_step": 330, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 331, "end_step": 390, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 391, "end_step": 426, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 427, "end_step": 540, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 541, "end_step": 624, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 625, "end_step": 642, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 643, "end_step": 702, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 703, "end_step": 774, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 775, "end_step": 846, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 150, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 151, "end_step": 222, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 223, "end_step": 264, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 265, "end_step": 330, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 331, "end_step": 390, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 391, "end_step": 426, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 427, "end_step": 540, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 541, "end_step": 624, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 625, "end_step": 642, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 643, "end_step": 702, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 703, "end_step": 774, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 775, "end_step": 846, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_19_52_23_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 66, "v40_language_source": "previous_published_lerobot", "episode_index": 54}
+{"source_uid": "774e8490163d3187", "num_frames": 1069, "episode_id": "POC22018_2026_03_17_20_36_05_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_19_52_23_train/POC22018_2026_03_17_20_36_05_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_19_52_23_train/POC22018_2026_03_17_20_36_05_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_19_52_23_train/POC22018_2026_03_17_20_36_05_train/train_0.3.0@2026_03_17_20_36_05.hdf5", "tags": {"task_name": "Pen Collection into Pen Holder", "task_instruction": "Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder.", "scene_description": "Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder.", "success_criteria": "All four pens are inside the pen holder and arranged neatly in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 120, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 121, "end_step": 192, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 193, "end_step": 228, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 229, "end_step": 318, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 319, "end_step": 402, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 403, "end_step": 426, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 427, "end_step": 769, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 770, "end_step": 841, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 842, "end_step": 871, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 872, "end_step": 931, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 932, "end_step": 997, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 998, "end_step": 1068, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 120, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 121, "end_step": 192, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 193, "end_step": 228, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 229, "end_step": 318, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 319, "end_step": 402, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 403, "end_step": 426, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 427, "end_step": 769, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 770, "end_step": 841, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 842, "end_step": 871, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 872, "end_step": 931, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 932, "end_step": 997, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 998, "end_step": 1068, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_19_52_23_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 67, "v40_language_source": "previous_published_lerobot", "episode_index": 55}
+{"source_uid": "541364038447968c", "num_frames": 906, "episode_id": "POC22018_2026_03_17_20_37_14_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_19_52_23_train/POC22018_2026_03_17_20_37_14_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_19_52_23_train/POC22018_2026_03_17_20_37_14_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_19_52_23_train/POC22018_2026_03_17_20_37_14_train/train_0.3.0@2026_03_17_20_37_14.hdf5", "tags": {"task_name": "Pen Collection into Pen Holder", "task_instruction": "Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder.", "scene_description": "Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder.", "success_criteria": "All four pens are inside the pen holder and arranged neatly in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 120, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 121, "end_step": 180, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 181, "end_step": 210, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 211, "end_step": 270, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 271, "end_step": 324, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 325, "end_step": 354, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 355, "end_step": 462, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 463, "end_step": 564, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 565, "end_step": 594, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 595, "end_step": 780, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 781, "end_step": 834, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 835, "end_step": 905, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 120, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 121, "end_step": 180, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 181, "end_step": 210, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 211, "end_step": 270, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 271, "end_step": 324, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 325, "end_step": 354, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 355, "end_step": 462, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 463, "end_step": 564, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 565, "end_step": 594, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 595, "end_step": 780, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 781, "end_step": 834, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 835, "end_step": 905, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_19_52_23_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 69, "v40_language_source": "previous_published_lerobot", "episode_index": 56}
diff --git a/place_pens_in_holder/season_POC22018_2026_03_17_19_52_23_train/lerobot_v3.0/meta/annotations.jsonl b/place_pens_in_holder/season_POC22018_2026_03_17_19_52_23_train/lerobot_v3.0/meta/annotations.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..174a9d4db68b7c27b7edc65ee01f8c03e2031603
--- /dev/null
+++ b/place_pens_in_holder/season_POC22018_2026_03_17_19_52_23_train/lerobot_v3.0/meta/annotations.jsonl
@@ -0,0 +1,57 @@
+{"source_uid": "7a3d8edd799ef8f5", "num_frames": 929, "episode_id": "POC22018_2026_03_17_19_52_23_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_19_52_23_train/POC22018_2026_03_17_19_52_23_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_19_52_23_train/POC22018_2026_03_17_19_52_23_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_19_52_23_train/POC22018_2026_03_17_19_52_23_train/train_0.3.0@2026_03_17_19_52_23.hdf5", "tags": {"task_name": "Pen Collection into Pen Holder", "task_instruction": "Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder.", "scene_description": "Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder.", "success_criteria": "All four pens are inside the pen holder and arranged neatly in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 172, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 173, "end_step": 268, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 269, "end_step": 304, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 305, "end_step": 406, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 407, "end_step": 460, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 461, "end_step": 490, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 491, "end_step": 580, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 581, "end_step": 676, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 677, "end_step": 700, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 701, "end_step": 778, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 779, "end_step": 844, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 845, "end_step": 928, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 172, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 173, "end_step": 268, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 269, "end_step": 304, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 305, "end_step": 406, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 407, "end_step": 460, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 461, "end_step": 490, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 491, "end_step": 580, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 581, "end_step": 676, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 677, "end_step": 700, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 701, "end_step": 778, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 779, "end_step": 844, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 845, "end_step": 928, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into 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Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_19_52_23_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 0, "v40_language_source": "previous_published_lerobot", "episode_index": 0}
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The robot needs to collect the pens one by one and place them neatly into the pen holder.", "success_criteria": "All four pens are inside the pen holder and arranged neatly in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 174, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 175, "end_step": 270, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 271, "end_step": 306, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 307, "end_step": 558, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 559, "end_step": 630, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 631, "end_step": 654, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 655, "end_step": 750, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 751, "end_step": 816, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 817, "end_step": 840, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 841, "end_step": 948, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 949, "end_step": 1026, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1027, "end_step": 1097, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 174, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 175, "end_step": 270, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 271, "end_step": 306, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 307, "end_step": 558, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 559, "end_step": 630, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 631, "end_step": 654, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 655, "end_step": 750, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 751, "end_step": 816, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 817, "end_step": 840, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 841, "end_step": 948, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 949, "end_step": 1026, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1027, "end_step": 1097, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place 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Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_19_52_23_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 1, "v40_language_source": "previous_published_lerobot", "episode_index": 1}
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The robot needs to collect the pens one by one and place them neatly into the pen holder.", "success_criteria": "All four pens are inside the pen holder and arranged neatly in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 180, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 181, "end_step": 276, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 277, "end_step": 300, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 301, "end_step": 438, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 439, "end_step": 534, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 535, "end_step": 564, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 565, "end_step": 636, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 637, "end_step": 732, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 733, "end_step": 750, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 751, "end_step": 834, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 835, "end_step": 918, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 919, "end_step": 988, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 180, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 181, "end_step": 276, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 277, "end_step": 300, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 301, "end_step": 438, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 439, "end_step": 534, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 535, "end_step": 564, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 565, "end_step": 636, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 637, "end_step": 732, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 733, "end_step": 750, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 751, "end_step": 834, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 835, "end_step": 918, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 919, "end_step": 988, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into 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Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_19_52_23_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 2, "v40_language_source": "previous_published_lerobot", "episode_index": 2}
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"subtasks", "start_step": 295, "end_step": 354, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 355, "end_step": 378, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 379, "end_step": 456, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 457, "end_step": 516, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 517, "end_step": 552, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 553, "end_step": 612, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 613, "end_step": 660, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 661, "end_step": 740, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 120, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 121, "end_step": 186, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 187, "end_step": 204, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 205, "end_step": 294, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 295, "end_step": 354, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 355, "end_step": 378, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 379, "end_step": 456, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 457, "end_step": 516, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 517, "end_step": 552, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 553, "end_step": 612, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 613, "end_step": 660, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 661, "end_step": 740, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into 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Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_19_52_23_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 3, "v40_language_source": "previous_published_lerobot", "episode_index": 3}
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"subtasks", "start_step": 283, "end_step": 324, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 325, "end_step": 348, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 349, "end_step": 690, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 691, "end_step": 750, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 751, "end_step": 768, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 769, "end_step": 858, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 859, "end_step": 948, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 949, "end_step": 1024, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 102, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 103, "end_step": 150, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 151, "end_step": 174, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 175, "end_step": 282, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 283, "end_step": 324, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 325, "end_step": 348, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 349, "end_step": 690, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 691, "end_step": 750, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 751, "end_step": 768, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 769, "end_step": 858, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 859, "end_step": 948, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 949, "end_step": 1024, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place 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Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_19_52_23_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 4, "v40_language_source": "previous_published_lerobot", "episode_index": 4}
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"subtasks", "start_step": 487, "end_step": 540, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 541, "end_step": 570, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 571, "end_step": 654, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 655, "end_step": 786, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 787, "end_step": 816, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 817, "end_step": 954, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 955, "end_step": 1056, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1057, "end_step": 1139, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 102, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 103, "end_step": 156, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 157, "end_step": 186, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 187, "end_step": 486, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 487, "end_step": 540, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 541, "end_step": 570, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 571, "end_step": 654, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 655, "end_step": 786, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: 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Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_19_52_23_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 5, "v40_language_source": "previous_published_lerobot", "episode_index": 5}
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"subtasks", "start_step": 283, "end_step": 330, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 331, "end_step": 360, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 361, "end_step": 426, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 427, "end_step": 486, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 487, "end_step": 510, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 511, "end_step": 570, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 571, "end_step": 624, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 625, "end_step": 702, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 120, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 121, "end_step": 180, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 181, "end_step": 210, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 211, "end_step": 282, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 283, "end_step": 330, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 331, "end_step": 360, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 361, "end_step": 426, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 427, "end_step": 486, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 487, "end_step": 510, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 511, "end_step": 570, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 571, "end_step": 624, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 625, "end_step": 702, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_19_52_23_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 6, "v40_language_source": "previous_published_lerobot", "episode_index": 6}
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The robot needs to collect the pens one by one and place them neatly into the pen holder.", "success_criteria": "All four pens are inside the pen holder and arranged neatly in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 126, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 127, "end_step": 192, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 193, "end_step": 222, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 223, "end_step": 306, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 307, "end_step": 372, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 373, "end_step": 402, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 403, "end_step": 474, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 475, "end_step": 546, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 547, "end_step": 570, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 571, "end_step": 630, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 631, "end_step": 702, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 703, "end_step": 782, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 126, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 127, "end_step": 192, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 193, "end_step": 222, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 223, "end_step": 306, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 307, "end_step": 372, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 373, "end_step": 402, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 403, "end_step": 474, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 475, "end_step": 546, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 547, "end_step": 570, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 571, "end_step": 630, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 631, "end_step": 702, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 703, "end_step": 782, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into 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Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_19_52_23_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 9, "v40_language_source": "previous_published_lerobot", "episode_index": 7}
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"subtasks", "start_step": 289, "end_step": 348, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 349, "end_step": 378, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 379, "end_step": 480, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 481, "end_step": 576, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 577, "end_step": 606, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 607, "end_step": 696, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 697, "end_step": 780, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 781, "end_step": 858, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 126, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 127, "end_step": 180, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 181, "end_step": 210, "id": "subtask-003", "text": "Place 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"task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 577, "end_step": 606, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 607, "end_step": 696, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 697, "end_step": 780, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 781, "end_step": 858, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into 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Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_19_52_23_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 11, "v40_language_source": "previous_published_lerobot", "episode_index": 8}
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"subtasks", "start_step": 289, "end_step": 342, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 343, "end_step": 372, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 373, "end_step": 456, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 457, "end_step": 540, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 541, "end_step": 570, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 571, "end_step": 666, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 667, "end_step": 726, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 727, "end_step": 800, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 126, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 127, "end_step": 180, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 181, "end_step": 216, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 217, "end_step": 288, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 289, "end_step": 342, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 343, "end_step": 372, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 373, "end_step": 456, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 457, "end_step": 540, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 541, "end_step": 570, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 571, "end_step": 666, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 667, "end_step": 726, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 727, "end_step": 800, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_19_52_23_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 12, "v40_language_source": "previous_published_lerobot", "episode_index": 9}
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The robot needs to collect the pens one by one and place them neatly into the pen holder.", "success_criteria": "All four pens are inside the pen holder and arranged neatly in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 120, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 121, "end_step": 174, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 175, "end_step": 210, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 211, "end_step": 276, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 277, "end_step": 342, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 343, "end_step": 372, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 373, "end_step": 468, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 469, "end_step": 552, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 553, "end_step": 582, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 583, "end_step": 654, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 655, "end_step": 726, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 727, "end_step": 814, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 120, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 121, "end_step": 174, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 175, "end_step": 210, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 211, "end_step": 276, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 277, "end_step": 342, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 343, "end_step": 372, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 373, "end_step": 468, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 469, "end_step": 552, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 553, "end_step": 582, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 583, "end_step": 654, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 655, "end_step": 726, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 727, "end_step": 814, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into 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Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_19_52_23_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 13, "v40_language_source": "previous_published_lerobot", "episode_index": 10}
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The robot needs to collect the pens one by one and place them neatly into the pen holder.", "success_criteria": "All four pens are inside the pen holder and arranged neatly in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 114, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 115, "end_step": 180, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 181, "end_step": 210, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 211, "end_step": 312, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 313, "end_step": 396, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 397, "end_step": 420, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 421, "end_step": 504, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 505, "end_step": 582, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 583, "end_step": 600, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 601, "end_step": 660, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 661, "end_step": 744, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 745, "end_step": 809, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 114, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 115, "end_step": 180, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 181, "end_step": 210, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 211, "end_step": 312, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 313, "end_step": 396, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 397, "end_step": 420, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 421, "end_step": 504, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 505, "end_step": 582, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 583, "end_step": 600, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 601, "end_step": 660, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 661, "end_step": 744, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 745, "end_step": 809, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into 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Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_19_52_23_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 14, "v40_language_source": "previous_published_lerobot", "episode_index": 11}
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"subtasks", "start_step": 313, "end_step": 396, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 397, "end_step": 420, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 421, "end_step": 516, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 517, "end_step": 594, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 595, "end_step": 612, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 613, "end_step": 684, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 685, "end_step": 744, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 745, "end_step": 830, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 126, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 127, "end_step": 198, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 199, "end_step": 234, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 235, "end_step": 312, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 313, "end_step": 396, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 397, "end_step": 420, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 421, "end_step": 516, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 517, "end_step": 594, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 595, "end_step": 612, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 613, "end_step": 684, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 685, "end_step": 744, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 745, "end_step": 830, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_19_52_23_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 15, "v40_language_source": "previous_published_lerobot", "episode_index": 12}
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The robot needs to collect the pens one by one and place them neatly into the pen holder.", "success_criteria": "All four pens are inside the pen holder and arranged neatly in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 108, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 109, "end_step": 174, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 175, "end_step": 198, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 199, "end_step": 288, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 289, "end_step": 372, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 373, "end_step": 402, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 403, "end_step": 504, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 505, "end_step": 600, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 601, "end_step": 630, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 631, "end_step": 744, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 745, "end_step": 828, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 829, "end_step": 911, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 108, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 109, "end_step": 174, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 175, "end_step": 198, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 199, "end_step": 288, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 289, "end_step": 372, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 373, "end_step": 402, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 403, "end_step": 504, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 505, "end_step": 600, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 601, "end_step": 630, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 631, "end_step": 744, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 745, "end_step": 828, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 829, "end_step": 911, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into 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Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_19_52_23_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 16, "v40_language_source": "previous_published_lerobot", "episode_index": 13}
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The robot needs to collect the pens one by one and place them neatly into the pen holder.", "success_criteria": "All four pens are inside the pen holder and arranged neatly in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 126, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 127, "end_step": 192, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 193, "end_step": 216, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 217, "end_step": 318, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 319, "end_step": 414, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 415, "end_step": 444, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 445, "end_step": 540, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 541, "end_step": 612, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 613, "end_step": 648, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 649, "end_step": 708, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 709, "end_step": 774, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 775, "end_step": 851, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 126, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 127, "end_step": 192, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 193, "end_step": 216, "id": "subtask-003", "text": "Place 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"task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 613, "end_step": 648, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 649, "end_step": 708, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 709, "end_step": 774, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 775, "end_step": 851, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into 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Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_19_52_23_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 18, "v40_language_source": "previous_published_lerobot", "episode_index": 14}
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"subtasks", "start_step": 325, "end_step": 384, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 385, "end_step": 414, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 415, "end_step": 486, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 487, "end_step": 564, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 565, "end_step": 582, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 583, "end_step": 660, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 661, "end_step": 726, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 727, "end_step": 805, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 156, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 157, "end_step": 222, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 223, "end_step": 252, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 253, "end_step": 324, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 325, "end_step": 384, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 385, "end_step": 414, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 415, "end_step": 486, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 487, "end_step": 564, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 565, "end_step": 582, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 583, "end_step": 660, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 661, "end_step": 726, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 727, "end_step": 805, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into 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Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_19_52_23_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 19, "v40_language_source": "previous_published_lerobot", "episode_index": 15}
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The robot needs to collect the pens one by one and place them neatly into the pen holder.", "success_criteria": "All four pens are inside the pen holder and arranged neatly in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 162, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 163, "end_step": 240, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 241, "end_step": 270, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 271, "end_step": 348, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 349, "end_step": 414, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 415, "end_step": 450, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 451, "end_step": 546, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 547, "end_step": 618, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 619, "end_step": 648, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 649, "end_step": 750, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 751, "end_step": 816, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 817, "end_step": 886, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 162, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 163, "end_step": 240, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 241, "end_step": 270, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 271, "end_step": 348, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 349, "end_step": 414, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 415, "end_step": 450, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 451, "end_step": 546, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 547, "end_step": 618, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 619, "end_step": 648, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 649, "end_step": 750, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 751, "end_step": 816, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 817, "end_step": 886, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into 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Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_19_52_23_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 20, "v40_language_source": "previous_published_lerobot", "episode_index": 16}
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The robot needs to collect the pens one by one and place them neatly into the pen holder.", "success_criteria": "All four pens are inside the pen holder and arranged neatly in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 138, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 139, "end_step": 198, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 199, "end_step": 222, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 223, "end_step": 306, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 307, "end_step": 366, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 367, "end_step": 390, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 391, "end_step": 492, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 493, "end_step": 582, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 583, "end_step": 600, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 601, "end_step": 714, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 715, "end_step": 792, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 793, "end_step": 871, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 138, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 139, "end_step": 198, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 199, "end_step": 222, "id": "subtask-003", "text": "Place 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"task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 583, "end_step": 600, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 601, "end_step": 714, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 715, "end_step": 792, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 793, "end_step": 871, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into 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Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_19_52_23_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 21, "v40_language_source": "previous_published_lerobot", "episode_index": 17}
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"subtasks", "start_step": 319, "end_step": 384, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 385, "end_step": 408, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 409, "end_step": 498, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 499, "end_step": 552, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 553, "end_step": 576, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 577, "end_step": 690, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 691, "end_step": 768, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 769, "end_step": 837, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 150, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 151, "end_step": 210, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 211, "end_step": 234, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 235, "end_step": 318, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 319, "end_step": 384, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 385, "end_step": 408, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 409, "end_step": 498, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 499, "end_step": 552, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 553, "end_step": 576, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 577, "end_step": 690, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 691, "end_step": 768, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 769, "end_step": 837, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_19_52_23_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 22, "v40_language_source": "previous_published_lerobot", "episode_index": 18}
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The robot needs to collect the pens one by one and place them neatly into the pen holder.", "success_criteria": "All four pens are inside the pen holder and arranged neatly in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 150, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 151, "end_step": 216, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 217, "end_step": 246, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 247, "end_step": 342, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 343, "end_step": 414, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 415, "end_step": 438, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 439, "end_step": 516, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 517, "end_step": 576, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 577, "end_step": 594, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 595, "end_step": 672, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 673, "end_step": 732, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 733, "end_step": 828, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 150, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 151, "end_step": 216, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 217, "end_step": 246, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 247, "end_step": 342, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 343, "end_step": 414, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 415, "end_step": 438, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 439, "end_step": 516, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 517, "end_step": 576, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 577, "end_step": 594, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 595, "end_step": 672, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 673, "end_step": 732, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 733, "end_step": 828, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into 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Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_19_52_23_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 23, "v40_language_source": "previous_published_lerobot", "episode_index": 19}
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The robot needs to collect the pens one by one and place them neatly into the pen holder.", "success_criteria": "All four pens are inside the pen holder and arranged neatly in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 162, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 163, "end_step": 222, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 223, "end_step": 252, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 253, "end_step": 348, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 349, "end_step": 432, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 433, "end_step": 444, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 445, "end_step": 516, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 517, "end_step": 582, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 583, "end_step": 612, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 613, "end_step": 738, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 739, "end_step": 834, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 835, "end_step": 911, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 162, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 163, "end_step": 222, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 223, "end_step": 252, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 253, "end_step": 348, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 349, "end_step": 432, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 433, "end_step": 444, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 445, "end_step": 516, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 517, "end_step": 582, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 583, "end_step": 612, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 613, "end_step": 738, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 739, "end_step": 834, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 835, "end_step": 911, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into 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Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_19_52_23_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 24, "v40_language_source": "previous_published_lerobot", "episode_index": 20}
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"subtasks", "start_step": 253, "end_step": 324, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 325, "end_step": 360, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 361, "end_step": 456, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 457, "end_step": 540, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 541, "end_step": 570, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 571, "end_step": 708, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 709, "end_step": 792, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 793, "end_step": 874, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 108, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 109, "end_step": 168, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 169, "end_step": 192, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 193, "end_step": 252, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 253, "end_step": 324, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 325, "end_step": 360, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 361, "end_step": 456, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 457, "end_step": 540, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 541, "end_step": 570, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 571, "end_step": 708, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 709, "end_step": 792, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 793, "end_step": 874, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_19_52_23_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 25, "v40_language_source": "previous_published_lerobot", "episode_index": 21}
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The robot needs to collect the pens one by one and place them neatly into the pen holder.", "success_criteria": "All four pens are inside the pen holder and arranged neatly in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 282, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 283, "end_step": 354, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 355, "end_step": 384, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 385, "end_step": 504, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 505, "end_step": 588, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 589, "end_step": 612, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 613, "end_step": 720, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 721, "end_step": 804, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 805, "end_step": 852, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 853, "end_step": 924, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 925, "end_step": 996, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 997, "end_step": 1078, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 282, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 283, "end_step": 354, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 355, "end_step": 384, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 385, "end_step": 504, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 505, "end_step": 588, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 589, "end_step": 612, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 613, "end_step": 720, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 721, "end_step": 804, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 805, "end_step": 852, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 853, "end_step": 924, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 925, "end_step": 996, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 997, "end_step": 1078, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place 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Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_19_52_23_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 27, "v40_language_source": "previous_published_lerobot", "episode_index": 22}
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The robot needs to collect the pens one by one and place them neatly into the pen holder.", "success_criteria": "All four pens are inside the pen holder and arranged neatly in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 150, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 151, "end_step": 252, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 253, "end_step": 288, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 289, "end_step": 440, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 441, "end_step": 500, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 501, "end_step": 530, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 531, "end_step": 596, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 597, "end_step": 662, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 663, "end_step": 686, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 687, "end_step": 752, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 753, "end_step": 830, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 831, "end_step": 914, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 150, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 151, "end_step": 252, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 253, "end_step": 288, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 289, "end_step": 440, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 441, "end_step": 500, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 501, "end_step": 530, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 531, "end_step": 596, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 597, "end_step": 662, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 663, "end_step": 686, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 687, "end_step": 752, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 753, "end_step": 830, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 831, "end_step": 914, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into 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Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_19_52_23_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 29, "v40_language_source": "previous_published_lerobot", "episode_index": 23}
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"subtasks", "start_step": 540, "end_step": 617, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 618, "end_step": 647, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 648, "end_step": 707, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 708, "end_step": 779, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 780, "end_step": 803, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 804, "end_step": 857, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 858, "end_step": 983, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 984, "end_step": 1053, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 126, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 127, "end_step": 198, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 199, "end_step": 222, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 223, "end_step": 539, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 540, "end_step": 617, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 618, "end_step": 647, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 648, "end_step": 707, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 708, "end_step": 779, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 780, "end_step": 803, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 804, "end_step": 857, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 858, "end_step": 983, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 984, "end_step": 1053, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_19_52_23_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 30, "v40_language_source": "previous_published_lerobot", "episode_index": 24}
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The robot needs to collect the pens one by one and place them neatly into the pen holder.", "success_criteria": "All four pens are inside the pen holder and arranged neatly in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 144, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 145, "end_step": 240, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 241, "end_step": 264, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 265, "end_step": 360, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 361, "end_step": 444, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 445, "end_step": 474, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 475, "end_step": 546, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 547, "end_step": 624, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 625, "end_step": 654, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 655, "end_step": 732, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 733, "end_step": 822, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 823, "end_step": 900, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 144, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 145, "end_step": 240, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 241, "end_step": 264, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 265, "end_step": 360, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 361, "end_step": 444, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 445, "end_step": 474, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 475, "end_step": 546, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 547, "end_step": 624, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 625, "end_step": 654, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 655, "end_step": 732, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 733, "end_step": 822, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 823, "end_step": 900, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into 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Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_19_52_23_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 31, "v40_language_source": "previous_published_lerobot", "episode_index": 25}
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The robot needs to collect the pens one by one and place them neatly into the pen holder.", "success_criteria": "All four pens are inside the pen holder and arranged neatly in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 156, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 157, "end_step": 246, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 247, "end_step": 276, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 277, "end_step": 378, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 379, "end_step": 462, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 463, "end_step": 486, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 487, "end_step": 582, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 583, "end_step": 666, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 667, "end_step": 690, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 691, "end_step": 774, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 775, "end_step": 888, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 889, "end_step": 957, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 156, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 157, "end_step": 246, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 247, "end_step": 276, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 277, "end_step": 378, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 379, "end_step": 462, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 463, "end_step": 486, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 487, "end_step": 582, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 583, "end_step": 666, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 667, "end_step": 690, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 691, "end_step": 774, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 775, "end_step": 888, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 889, "end_step": 957, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into 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Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_19_52_23_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 32, "v40_language_source": "previous_published_lerobot", "episode_index": 26}
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"subtasks", "start_step": 379, "end_step": 468, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 469, "end_step": 492, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 493, "end_step": 588, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 589, "end_step": 654, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 655, "end_step": 684, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 685, "end_step": 780, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 781, "end_step": 858, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 859, "end_step": 926, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 144, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 145, "end_step": 234, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 235, "end_step": 258, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 259, "end_step": 378, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 379, "end_step": 468, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 469, "end_step": 492, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 493, "end_step": 588, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 589, "end_step": 654, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 655, "end_step": 684, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 685, "end_step": 780, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 781, "end_step": 858, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 859, "end_step": 926, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into 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Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_19_52_23_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 33, "v40_language_source": "previous_published_lerobot", "episode_index": 27}
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"subtasks", "start_step": 361, "end_step": 420, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 421, "end_step": 450, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 451, "end_step": 528, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 529, "end_step": 594, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 595, "end_step": 642, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 643, "end_step": 726, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 727, "end_step": 804, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 805, "end_step": 867, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 144, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 145, "end_step": 222, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 223, "end_step": 252, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 253, "end_step": 360, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 361, "end_step": 420, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 421, "end_step": 450, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 451, "end_step": 528, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 529, "end_step": 594, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 595, "end_step": 642, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 643, "end_step": 726, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 727, "end_step": 804, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 805, "end_step": 867, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into 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Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_19_52_23_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 34, "v40_language_source": "previous_published_lerobot", "episode_index": 28}
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"subtasks", "start_step": 337, "end_step": 432, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 433, "end_step": 456, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 457, "end_step": 582, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 583, "end_step": 678, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 679, "end_step": 702, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 703, "end_step": 774, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 775, "end_step": 852, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 853, "end_step": 926, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 156, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 157, "end_step": 246, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 247, "end_step": 276, "id": "subtask-003", "text": "Place 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"task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 679, "end_step": 702, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 703, "end_step": 774, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 775, "end_step": 852, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 853, "end_step": 926, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into 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Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_19_52_23_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 36, "v40_language_source": "previous_published_lerobot", "episode_index": 29}
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"subtasks", "start_step": 325, "end_step": 378, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 379, "end_step": 408, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 409, "end_step": 492, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 493, "end_step": 588, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 589, "end_step": 618, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 619, "end_step": 714, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 715, "end_step": 792, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 793, "end_step": 864, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 138, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 139, "end_step": 198, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 199, "end_step": 228, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 229, "end_step": 324, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 325, "end_step": 378, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 379, "end_step": 408, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 409, "end_step": 492, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 493, "end_step": 588, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 589, "end_step": 618, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 619, "end_step": 714, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 715, "end_step": 792, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 793, "end_step": 864, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into 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Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_19_52_23_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 40, "v40_language_source": "previous_published_lerobot", "episode_index": 30}
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"subtasks", "start_step": 331, "end_step": 384, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 385, "end_step": 408, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 409, "end_step": 504, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 505, "end_step": 702, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 703, "end_step": 756, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 757, "end_step": 804, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 805, "end_step": 894, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 895, "end_step": 967, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 162, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 163, "end_step": 234, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 235, "end_step": 258, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 259, "end_step": 330, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 331, "end_step": 384, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 385, "end_step": 408, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 409, "end_step": 504, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 505, "end_step": 702, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 703, "end_step": 756, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 757, "end_step": 804, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 805, "end_step": 894, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 895, "end_step": 967, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into 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Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_19_52_23_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 42, "v40_language_source": "previous_published_lerobot", "episode_index": 31}
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"subtasks", "start_step": 289, "end_step": 366, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 367, "end_step": 402, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 403, "end_step": 486, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 487, "end_step": 564, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 565, "end_step": 594, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 595, "end_step": 684, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 685, "end_step": 756, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 757, "end_step": 830, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 120, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 121, "end_step": 174, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 175, "end_step": 204, "id": "subtask-003", "text": "Place 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"task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 565, "end_step": 594, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 595, "end_step": 684, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 685, "end_step": 756, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 757, "end_step": 830, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into 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Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_19_52_23_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 44, "v40_language_source": "previous_published_lerobot", "episode_index": 32}
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"subtasks", "start_step": 421, "end_step": 504, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 505, "end_step": 534, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 535, "end_step": 594, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 595, "end_step": 672, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 673, "end_step": 696, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 697, "end_step": 774, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 775, "end_step": 840, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 841, "end_step": 923, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 174, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 175, "end_step": 276, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 277, "end_step": 300, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 301, "end_step": 420, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 421, "end_step": 504, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 505, "end_step": 534, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 535, "end_step": 594, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 595, "end_step": 672, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 673, "end_step": 696, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 697, "end_step": 774, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 775, "end_step": 840, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 841, "end_step": 923, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_19_52_23_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 45, "v40_language_source": "previous_published_lerobot", "episode_index": 33}
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The robot needs to collect the pens one by one and place them neatly into the pen holder.", "success_criteria": "All four pens are inside the pen holder and arranged neatly in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 144, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 145, "end_step": 216, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 217, "end_step": 240, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 241, "end_step": 330, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 331, "end_step": 462, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 463, "end_step": 486, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 487, "end_step": 570, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 571, "end_step": 648, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 649, "end_step": 678, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 679, "end_step": 756, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 757, "end_step": 822, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 823, "end_step": 888, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 144, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 145, "end_step": 216, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 217, "end_step": 240, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 241, "end_step": 330, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 331, "end_step": 462, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 463, "end_step": 486, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 487, "end_step": 570, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 571, "end_step": 648, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 649, "end_step": 678, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 679, "end_step": 756, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 757, "end_step": 822, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 823, "end_step": 888, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into 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Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_19_52_23_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 46, "v40_language_source": "previous_published_lerobot", "episode_index": 34}
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The robot needs to collect the pens one by one and place them neatly into the pen holder.", "success_criteria": "All four pens are inside the pen holder and arranged neatly in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 120, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 121, "end_step": 192, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 193, "end_step": 222, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 223, "end_step": 306, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 307, "end_step": 426, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 427, "end_step": 462, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 463, "end_step": 540, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 541, "end_step": 624, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 625, "end_step": 654, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 655, "end_step": 756, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 757, "end_step": 834, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 835, "end_step": 914, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 120, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 121, "end_step": 192, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 193, "end_step": 222, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 223, "end_step": 306, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 307, "end_step": 426, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 427, "end_step": 462, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 463, "end_step": 540, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 541, "end_step": 624, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 625, "end_step": 654, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 655, "end_step": 756, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 757, "end_step": 834, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 835, "end_step": 914, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into 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Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_19_52_23_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 47, "v40_language_source": "previous_published_lerobot", "episode_index": 35}
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"subtasks", "start_step": 373, "end_step": 510, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 511, "end_step": 558, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 559, "end_step": 828, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 829, "end_step": 960, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 961, "end_step": 990, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 991, "end_step": 1056, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1057, "end_step": 1134, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1135, "end_step": 1205, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 126, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 127, "end_step": 198, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 199, "end_step": 228, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 229, "end_step": 372, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 373, "end_step": 510, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 511, "end_step": 558, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 559, "end_step": 828, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 829, "end_step": 960, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 961, "end_step": 990, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 991, "end_step": 1056, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1057, "end_step": 1134, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1135, "end_step": 1205, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_19_52_23_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 48, "v40_language_source": "previous_published_lerobot", "episode_index": 36}
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The robot needs to collect the pens one by one and place them neatly into the pen holder.", "success_criteria": "All four pens are inside the pen holder and arranged neatly in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 132, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 133, "end_step": 210, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 211, "end_step": 252, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 253, "end_step": 384, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 385, "end_step": 474, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 475, "end_step": 504, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 505, "end_step": 612, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 613, "end_step": 690, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 691, "end_step": 720, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 721, "end_step": 828, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 829, "end_step": 918, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 919, "end_step": 993, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 132, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 133, "end_step": 210, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 211, "end_step": 252, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 253, "end_step": 384, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 385, "end_step": 474, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 475, "end_step": 504, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 505, "end_step": 612, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 613, "end_step": 690, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 691, "end_step": 720, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 721, "end_step": 828, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 829, "end_step": 918, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 919, "end_step": 993, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into 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Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_19_52_23_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 49, "v40_language_source": "previous_published_lerobot", "episode_index": 37}
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The robot needs to collect the pens one by one and place them neatly into the pen holder.", "success_criteria": "All four pens are inside the pen holder and arranged neatly in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 108, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 109, "end_step": 186, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 187, "end_step": 222, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 223, "end_step": 342, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 343, "end_step": 510, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 511, "end_step": 552, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 553, "end_step": 618, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 619, "end_step": 714, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 715, "end_step": 750, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 751, "end_step": 828, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 829, "end_step": 894, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 895, "end_step": 970, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 108, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 109, "end_step": 186, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 187, "end_step": 222, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 223, "end_step": 342, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 343, "end_step": 510, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 511, "end_step": 552, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 553, "end_step": 618, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 619, "end_step": 714, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 715, "end_step": 750, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 751, "end_step": 828, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 829, "end_step": 894, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 895, "end_step": 970, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into 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Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_19_52_23_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 50, "v40_language_source": "previous_published_lerobot", "episode_index": 38}
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The robot needs to collect the pens one by one and place them neatly into the pen holder.", "success_criteria": "All four pens are inside the pen holder and arranged neatly in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 144, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 145, "end_step": 222, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 223, "end_step": 252, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 253, "end_step": 324, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 325, "end_step": 384, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 385, "end_step": 408, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 409, "end_step": 492, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 493, "end_step": 558, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 559, "end_step": 594, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 595, "end_step": 678, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 679, "end_step": 792, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 793, "end_step": 876, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 144, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 145, "end_step": 222, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 223, "end_step": 252, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 253, "end_step": 324, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 325, "end_step": 384, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 385, "end_step": 408, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 409, "end_step": 492, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 493, "end_step": 558, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 559, "end_step": 594, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 595, "end_step": 678, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 679, "end_step": 792, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 793, "end_step": 876, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_19_52_23_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 51, "v40_language_source": "previous_published_lerobot", "episode_index": 39}
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The robot needs to collect the pens one by one and place them neatly into the pen holder.", "success_criteria": "All four pens are inside the pen holder and arranged neatly in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 126, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 127, "end_step": 204, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 205, "end_step": 228, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 229, "end_step": 306, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 307, "end_step": 414, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 415, "end_step": 444, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 445, "end_step": 510, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 511, "end_step": 570, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 571, "end_step": 600, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 601, "end_step": 696, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 697, "end_step": 792, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 793, "end_step": 869, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 126, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 127, "end_step": 204, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 205, "end_step": 228, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 229, "end_step": 306, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 307, "end_step": 414, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 415, "end_step": 444, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 445, "end_step": 510, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 511, "end_step": 570, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 571, "end_step": 600, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 601, "end_step": 696, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 697, "end_step": 792, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 793, "end_step": 869, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into 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Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_19_52_23_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 52, "v40_language_source": "previous_published_lerobot", "episode_index": 40}
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The robot needs to collect the pens one by one and place them neatly into the pen holder.", "success_criteria": "All four pens are inside the pen holder and arranged neatly in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 108, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 109, "end_step": 186, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 187, "end_step": 210, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 211, "end_step": 324, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 325, "end_step": 438, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 439, "end_step": 468, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 469, "end_step": 522, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 523, "end_step": 642, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 643, "end_step": 678, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 679, "end_step": 780, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 781, "end_step": 882, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 883, "end_step": 959, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 108, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 109, "end_step": 186, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 187, "end_step": 210, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 211, "end_step": 324, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 325, "end_step": 438, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 439, "end_step": 468, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 469, "end_step": 522, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 523, "end_step": 642, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 643, "end_step": 678, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 679, "end_step": 780, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 781, "end_step": 882, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 883, "end_step": 959, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into 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Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_19_52_23_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 53, "v40_language_source": "previous_published_lerobot", "episode_index": 41}
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"subtasks", "start_step": 307, "end_step": 378, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 379, "end_step": 408, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 409, "end_step": 462, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 463, "end_step": 540, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 541, "end_step": 564, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 565, "end_step": 786, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 787, "end_step": 864, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 865, "end_step": 934, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 150, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 151, "end_step": 216, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 217, "end_step": 240, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 241, "end_step": 306, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 307, "end_step": 378, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 379, "end_step": 408, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 409, "end_step": 462, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 463, "end_step": 540, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 541, "end_step": 564, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 565, "end_step": 786, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 787, "end_step": 864, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 865, "end_step": 934, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_19_52_23_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 54, "v40_language_source": "previous_published_lerobot", "episode_index": 42}
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The robot needs to collect the pens one by one and place them neatly into the pen holder.", "success_criteria": "All four pens are inside the pen holder and arranged neatly in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 150, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 151, "end_step": 222, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 223, "end_step": 246, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 247, "end_step": 354, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 355, "end_step": 432, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 433, "end_step": 456, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 457, "end_step": 540, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 541, "end_step": 612, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 613, "end_step": 636, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 637, "end_step": 714, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 715, "end_step": 780, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 781, "end_step": 845, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 150, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 151, "end_step": 222, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 223, "end_step": 246, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 247, "end_step": 354, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 355, "end_step": 432, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 433, "end_step": 456, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 457, "end_step": 540, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 541, "end_step": 612, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 613, "end_step": 636, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 637, "end_step": 714, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 715, "end_step": 780, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 781, "end_step": 845, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into 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Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_19_52_23_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 55, "v40_language_source": "previous_published_lerobot", "episode_index": 43}
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The robot needs to collect the pens one by one and place them neatly into the pen holder.", "success_criteria": "All four pens are inside the pen holder and arranged neatly in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 132, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 133, "end_step": 228, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 229, "end_step": 258, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 259, "end_step": 348, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 349, "end_step": 468, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 469, "end_step": 492, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 493, "end_step": 588, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 589, "end_step": 744, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 745, "end_step": 774, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 775, "end_step": 870, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 871, "end_step": 954, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 955, "end_step": 1019, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 132, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 133, "end_step": 228, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 229, "end_step": 258, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 259, "end_step": 348, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 349, "end_step": 468, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 469, "end_step": 492, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 493, "end_step": 588, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 589, "end_step": 744, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: 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it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_19_52_23_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 56, "v40_language_source": "previous_published_lerobot", "episode_index": 44}
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The robot needs to collect the pens one by one and place them neatly into the pen holder.", "success_criteria": "All four pens are inside the pen holder and arranged neatly in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 108, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 109, "end_step": 174, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 175, "end_step": 204, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 205, "end_step": 258, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 259, "end_step": 558, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 559, "end_step": 594, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 595, "end_step": 702, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 703, "end_step": 846, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 847, "end_step": 870, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 871, "end_step": 972, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 973, "end_step": 1062, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1063, "end_step": 1136, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 108, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 109, "end_step": 174, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 175, "end_step": 204, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 205, "end_step": 258, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 259, "end_step": 558, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 559, "end_step": 594, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 595, "end_step": 702, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 703, "end_step": 846, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 847, "end_step": 870, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 871, "end_step": 972, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 973, "end_step": 1062, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1063, "end_step": 1136, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_19_52_23_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 57, "v40_language_source": "previous_published_lerobot", "episode_index": 45}
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The robot needs to collect the pens one by one and place them neatly into the pen holder.", "success_criteria": "All four pens are inside the pen holder and arranged neatly in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 132, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 133, "end_step": 198, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 199, "end_step": 222, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 223, "end_step": 312, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 313, "end_step": 378, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 379, "end_step": 420, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 421, "end_step": 510, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 511, "end_step": 630, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 631, "end_step": 672, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 673, "end_step": 756, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 757, "end_step": 858, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 859, "end_step": 936, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 132, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 133, "end_step": 198, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 199, "end_step": 222, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 223, "end_step": 312, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 313, "end_step": 378, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 379, "end_step": 420, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 421, "end_step": 510, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 511, "end_step": 630, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 631, "end_step": 672, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 673, "end_step": 756, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 757, "end_step": 858, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 859, "end_step": 936, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into 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Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_19_52_23_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 58, "v40_language_source": "previous_published_lerobot", "episode_index": 46}
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The robot needs to collect the pens one by one and place them neatly into the pen holder.", "success_criteria": "All four pens are inside the pen holder and arranged neatly in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 150, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 151, "end_step": 240, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 241, "end_step": 270, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 271, "end_step": 396, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 397, "end_step": 498, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 499, "end_step": 528, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 529, "end_step": 600, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 601, "end_step": 678, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 679, "end_step": 702, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 703, "end_step": 780, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 781, "end_step": 852, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 853, "end_step": 926, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 150, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 151, "end_step": 240, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 241, "end_step": 270, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 271, "end_step": 396, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 397, "end_step": 498, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 499, "end_step": 528, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 529, "end_step": 600, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 601, "end_step": 678, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 679, "end_step": 702, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 703, "end_step": 780, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 781, "end_step": 852, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 853, "end_step": 926, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into 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Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_19_52_23_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 59, "v40_language_source": "previous_published_lerobot", "episode_index": 47}
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"subtasks", "start_step": 313, "end_step": 420, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 421, "end_step": 456, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 457, "end_step": 528, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 529, "end_step": 636, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 637, "end_step": 672, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 673, "end_step": 1002, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1003, "end_step": 1086, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1087, "end_step": 1159, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 126, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 127, "end_step": 216, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 217, "end_step": 246, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 247, "end_step": 312, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 313, "end_step": 420, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 421, "end_step": 456, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 457, "end_step": 528, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 529, "end_step": 636, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 637, "end_step": 672, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 673, "end_step": 1002, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1003, "end_step": 1086, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1087, "end_step": 1159, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_19_52_23_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 60, "v40_language_source": "previous_published_lerobot", "episode_index": 48}
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The robot needs to collect the pens one by one and place them neatly into the pen holder.", "success_criteria": "All four pens are inside the pen holder and arranged neatly in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 120, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 121, "end_step": 186, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 187, "end_step": 210, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 211, "end_step": 294, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 295, "end_step": 372, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 373, "end_step": 396, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 397, "end_step": 450, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 451, "end_step": 522, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 523, "end_step": 552, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 553, "end_step": 648, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 649, "end_step": 720, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 721, "end_step": 795, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 120, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 121, "end_step": 186, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 187, "end_step": 210, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 211, "end_step": 294, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 295, "end_step": 372, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 373, "end_step": 396, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 397, "end_step": 450, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 451, "end_step": 522, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 523, "end_step": 552, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 553, "end_step": 648, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 649, "end_step": 720, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 721, "end_step": 795, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into 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Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_19_52_23_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 61, "v40_language_source": "previous_published_lerobot", "episode_index": 49}
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The robot needs to collect the pens one by one and place them neatly into the pen holder.", "success_criteria": "All four pens are inside the pen holder and arranged neatly in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 108, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 109, "end_step": 174, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 175, "end_step": 204, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 205, "end_step": 270, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 271, "end_step": 324, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 325, "end_step": 360, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 361, "end_step": 420, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 421, "end_step": 516, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 517, "end_step": 546, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 547, "end_step": 642, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 643, "end_step": 756, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 757, "end_step": 831, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 108, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 109, "end_step": 174, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 175, "end_step": 204, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 205, "end_step": 270, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 271, "end_step": 324, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 325, "end_step": 360, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 361, "end_step": 420, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 421, "end_step": 516, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 517, "end_step": 546, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 547, "end_step": 642, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 643, "end_step": 756, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 757, "end_step": 831, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into 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Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_19_52_23_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 62, "v40_language_source": "previous_published_lerobot", "episode_index": 50}
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"subtasks", "start_step": 277, "end_step": 324, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 325, "end_step": 354, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 355, "end_step": 636, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 637, "end_step": 708, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 709, "end_step": 744, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 745, "end_step": 798, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 799, "end_step": 876, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 877, "end_step": 952, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 114, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 115, "end_step": 186, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 187, "end_step": 210, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 211, "end_step": 276, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 277, "end_step": 324, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 325, "end_step": 354, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 355, "end_step": 636, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 637, "end_step": 708, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 709, "end_step": 744, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 745, "end_step": 798, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 799, "end_step": 876, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 877, "end_step": 952, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_19_52_23_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 63, "v40_language_source": "previous_published_lerobot", "episode_index": 51}
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The robot needs to collect the pens one by one and place them neatly into the pen holder.", "success_criteria": "All four pens are inside the pen holder and arranged neatly in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 120, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 121, "end_step": 216, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 217, "end_step": 246, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 247, "end_step": 330, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 331, "end_step": 414, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 415, "end_step": 438, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 439, "end_step": 516, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 517, "end_step": 636, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 637, "end_step": 666, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 667, "end_step": 768, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 769, "end_step": 828, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 829, "end_step": 890, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 120, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 121, "end_step": 216, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 217, "end_step": 246, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 247, "end_step": 330, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 331, "end_step": 414, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 415, "end_step": 438, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 439, "end_step": 516, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 517, "end_step": 636, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 637, "end_step": 666, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 667, "end_step": 768, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 769, "end_step": 828, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 829, "end_step": 890, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into 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Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_19_52_23_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 64, "v40_language_source": "previous_published_lerobot", "episode_index": 52}
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The robot needs to collect the pens one by one and place them neatly into the pen holder.", "success_criteria": "All four pens are inside the pen holder and arranged neatly in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 138, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 139, "end_step": 204, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 205, "end_step": 240, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 241, "end_step": 318, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 319, "end_step": 384, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 385, "end_step": 414, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 415, "end_step": 498, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 499, "end_step": 564, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 565, "end_step": 606, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 607, "end_step": 726, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 727, "end_step": 810, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 811, "end_step": 886, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 138, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 139, "end_step": 204, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 205, "end_step": 240, "id": "subtask-003", "text": "Place 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"task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 565, "end_step": 606, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 607, "end_step": 726, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 727, "end_step": 810, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 811, "end_step": 886, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into 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Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_19_52_23_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 65, "v40_language_source": "previous_published_lerobot", "episode_index": 53}
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The robot needs to collect the pens one by one and place them neatly into the pen holder.", "success_criteria": "All four pens are inside the pen holder and arranged neatly in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 150, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 151, "end_step": 222, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 223, "end_step": 264, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 265, "end_step": 330, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 331, "end_step": 390, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 391, "end_step": 426, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 427, "end_step": 540, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 541, "end_step": 624, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 625, "end_step": 642, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 643, "end_step": 702, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 703, "end_step": 774, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 775, "end_step": 846, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 150, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 151, "end_step": 222, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 223, "end_step": 264, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 265, "end_step": 330, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 331, "end_step": 390, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 391, "end_step": 426, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 427, "end_step": 540, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 541, "end_step": 624, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 625, "end_step": 642, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 643, "end_step": 702, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 703, "end_step": 774, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 775, "end_step": 846, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_19_52_23_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 66, "v40_language_source": "previous_published_lerobot", "episode_index": 54}
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Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder.", "scene_description": "Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder.", "success_criteria": "All four pens are inside the pen holder and arranged neatly in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 120, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 121, "end_step": 192, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 193, "end_step": 228, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 229, "end_step": 318, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 319, "end_step": 402, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 403, "end_step": 426, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 427, "end_step": 769, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 770, "end_step": 841, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 842, "end_step": 871, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 872, "end_step": 931, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 932, "end_step": 997, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 998, "end_step": 1068, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 120, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 121, "end_step": 192, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 193, "end_step": 228, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 229, "end_step": 318, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 319, "end_step": 402, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 403, "end_step": 426, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 427, "end_step": 769, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 770, "end_step": 841, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 842, "end_step": 871, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 872, "end_step": 931, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 932, "end_step": 997, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 998, "end_step": 1068, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_19_52_23_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 67, "v40_language_source": "previous_published_lerobot", "episode_index": 55}
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Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder.", "scene_description": "Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder.", "success_criteria": "All four pens are inside the pen holder and arranged neatly in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 120, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 121, "end_step": 180, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 181, "end_step": 210, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 211, "end_step": 270, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 271, "end_step": 324, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 325, "end_step": 354, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 355, "end_step": 462, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 463, "end_step": 564, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 565, "end_step": 594, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 595, "end_step": 780, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 781, "end_step": 834, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 835, "end_step": 905, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 120, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 121, "end_step": 180, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 181, "end_step": 210, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 211, "end_step": 270, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 271, "end_step": 324, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 325, "end_step": 354, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 355, "end_step": 462, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 463, "end_step": 564, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 565, "end_step": 594, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 595, "end_step": 780, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 781, "end_step": 834, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 835, "end_step": 905, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into 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Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_19_52_23_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 69, "v40_language_source": "previous_published_lerobot", "episode_index": 56}
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+    "total_frames": 52349,
+    "total_tasks": 1,
+    "chunks_size": 1000,
+    "data_files_size_in_mb": 100,
+    "video_files_size_in_mb": 200,
+    "fps": 30,
+    "splits": {
+        "train": "0:57"
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+    "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": [
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+            "names": [
+                "left_arm_j0",
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+                "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"
+            ],
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+                "video.width": 480,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.wrist_left": {
+            "dtype": "video",
+            "shape": [
+                480,
+                480,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
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+                "video.width": 480,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.wrist_right": {
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+            "shape": [
+                480,
+                480,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
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+                "video.width": 480,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.head_right": {
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+            "shape": [
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+                480,
+                3
+            ],
+            "names": [
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+                "width",
+                "channels"
+            ],
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+                "video.codec": "h264",
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+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
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+        "observation.tactile": {
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+            ],
+            "names": [
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+                "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": [
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+            "names": null
+        },
+        "frame_index": {
+            "dtype": "int64",
+            "shape": [
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+            ],
+            "names": null
+        },
+        "episode_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "index": {
+            "dtype": "int64",
+            "shape": [
+                1
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+            "names": null
+        },
+        "task_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        }
+    }
+}
\ No newline at end of file
diff --git a/place_pens_in_holder/season_POC22018_2026_03_17_19_52_23_train/lerobot_v3.0/meta/modality.json b/place_pens_in_holder/season_POC22018_2026_03_17_19_52_23_train/lerobot_v3.0/meta/modality.json
new file mode 100644
index 0000000000000000000000000000000000000000..a05578e69b2f67b344bf8b72976a7471c3174013
--- /dev/null
+++ b/place_pens_in_holder/season_POC22018_2026_03_17_19_52_23_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": {
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+      "end": 65,
+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "observation.state"
+    },
+    "tcp_pose": {
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+      "end": 12,
+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "observation.state.tcp_pose"
+    }
+  },
+  "action": {
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+      "end": 65,
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+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "action"
+    },
+    "tcp_pose": {
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+      "end": 12,
+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "action.tcp_pose"
+    }
+  }
+}
diff --git a/place_pens_in_holder/season_POC22018_2026_03_17_19_52_23_train/lerobot_v3.0/meta/stats.json b/place_pens_in_holder/season_POC22018_2026_03_17_19_52_23_train/lerobot_v3.0/meta/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..daa13933f8f518a9067fe4c80e8a4c5ec2288e1d
--- /dev/null
+++ b/place_pens_in_holder/season_POC22018_2026_03_17_19_52_23_train/lerobot_v3.0/meta/stats.json
@@ -0,0 +1,4030 @@
+{
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"task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 649, "end_step": 672, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 673, "end_step": 762, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 763, "end_step": 822, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 823, "end_step": 898, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into 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Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_20_45_23_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 1, "v40_language_source": "previous_published_lerobot", "episode_index": 1}
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"id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1099, "end_step": 1206, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1207, "end_step": 1277, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 162, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 163, "end_step": 222, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 223, "end_step": 252, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 253, "end_step": 330, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 331, "end_step": 378, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 379, "end_step": 408, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 409, "end_step": 714, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 715, "end_step": 762, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 763, "end_step": 798, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 799, "end_step": 1098, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1099, "end_step": 1206, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1207, "end_step": 1277, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and 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Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_20_45_23_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 2, "v40_language_source": "previous_published_lerobot", "episode_index": 2}
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"subtasks", "start_step": 283, "end_step": 336, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 337, "end_step": 360, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 361, "end_step": 438, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 439, "end_step": 498, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 499, "end_step": 522, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 523, "end_step": 588, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 589, "end_step": 660, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 661, "end_step": 728, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 138, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 139, "end_step": 204, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 205, "end_step": 234, "id": "subtask-003", "text": "Place 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"id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 703, "end_step": 756, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 757, "end_step": 825, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 114, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 115, "end_step": 180, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 181, "end_step": 210, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 211, "end_step": 360, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 361, "end_step": 426, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 427, "end_step": 456, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 457, "end_step": 540, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 541, "end_step": 606, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 607, "end_step": 636, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 637, "end_step": 702, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 703, "end_step": 756, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 757, "end_step": 825, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_20_45_23_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 4, "v40_language_source": "previous_published_lerobot", "episode_index": 4}
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"subtasks", "start_step": 289, "end_step": 348, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 349, "end_step": 378, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 379, "end_step": 474, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 475, "end_step": 522, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 523, "end_step": 546, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 547, "end_step": 624, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 625, "end_step": 678, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 679, "end_step": 742, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 126, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 127, "end_step": 180, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 181, "end_step": 216, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 217, "end_step": 288, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 289, "end_step": 348, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 349, "end_step": 378, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 379, "end_step": 474, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 475, "end_step": 522, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 523, "end_step": 546, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 547, "end_step": 624, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 625, "end_step": 678, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 679, "end_step": 742, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into 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Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_20_45_23_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 5, "v40_language_source": "previous_published_lerobot", "episode_index": 5}
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"subtasks", "start_step": 271, "end_step": 324, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 325, "end_step": 348, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 349, "end_step": 432, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 433, "end_step": 498, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 499, "end_step": 528, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 529, "end_step": 600, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 601, "end_step": 666, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 667, "end_step": 736, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 126, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 127, "end_step": 174, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 175, "end_step": 198, "id": "subtask-003", "text": "Place 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"task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 499, "end_step": 528, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 529, "end_step": 600, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 601, "end_step": 666, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 667, "end_step": 736, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into 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Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_20_45_23_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 6, "v40_language_source": "previous_published_lerobot", "episode_index": 6}
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"subtasks", "start_step": 325, "end_step": 378, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 379, "end_step": 402, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 403, "end_step": 480, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 481, "end_step": 534, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 535, "end_step": 564, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 565, "end_step": 636, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 637, "end_step": 696, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 697, "end_step": 758, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 156, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 157, "end_step": 216, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 217, "end_step": 240, "id": "subtask-003", "text": "Place 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"task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 535, "end_step": 564, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 565, "end_step": 636, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 637, "end_step": 696, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 697, "end_step": 758, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into 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Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_20_45_23_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 7, "v40_language_source": "previous_published_lerobot", "episode_index": 7}
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"subtasks", "start_step": 283, "end_step": 360, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 361, "end_step": 384, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 385, "end_step": 474, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 475, "end_step": 522, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 523, "end_step": 546, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 547, "end_step": 600, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 601, "end_step": 666, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 667, "end_step": 735, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 156, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 157, "end_step": 216, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 217, "end_step": 228, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 229, "end_step": 282, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 283, "end_step": 360, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 361, "end_step": 384, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 385, "end_step": 474, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 475, "end_step": 522, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 523, "end_step": 546, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 547, "end_step": 600, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 601, "end_step": 666, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 667, "end_step": 735, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into 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Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_20_45_23_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 8, "v40_language_source": "previous_published_lerobot", "episode_index": 8}
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"id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1045, "end_step": 1098, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1099, "end_step": 1161, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 342, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 343, "end_step": 396, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 397, "end_step": 426, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 427, "end_step": 714, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 715, "end_step": 780, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 781, "end_step": 810, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 811, "end_step": 900, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 901, "end_step": 954, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: 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Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_20_45_23_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 9, "v40_language_source": "previous_published_lerobot", "episode_index": 9}
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"id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 583, "end_step": 624, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 625, "end_step": 694, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 132, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 133, "end_step": 180, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 181, "end_step": 210, "id": "subtask-003", "text": "Place 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"task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 499, "end_step": 522, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 523, "end_step": 582, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 583, "end_step": 624, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 625, "end_step": 694, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into 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Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_20_45_23_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 11, "v40_language_source": "previous_published_lerobot", "episode_index": 10}
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"subtasks", "start_step": 295, "end_step": 342, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 343, "end_step": 360, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 361, "end_step": 624, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 625, "end_step": 690, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 691, "end_step": 714, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 715, "end_step": 804, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 805, "end_step": 846, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 847, "end_step": 916, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 144, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 145, "end_step": 186, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 187, "end_step": 210, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 211, "end_step": 294, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 295, "end_step": 342, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 343, "end_step": 360, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 361, "end_step": 624, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 625, "end_step": 690, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 691, "end_step": 714, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 715, "end_step": 804, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 805, "end_step": 846, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 847, "end_step": 916, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into 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Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_20_45_23_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 12, "v40_language_source": "previous_published_lerobot", "episode_index": 11}
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Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_20_45_23_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 13, "v40_language_source": "previous_published_lerobot", "episode_index": 12}
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"id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 673, "end_step": 726, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 727, "end_step": 804, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 114, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 115, "end_step": 186, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 187, "end_step": 210, "id": "subtask-003", "text": "Place 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"task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 541, "end_step": 576, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 577, "end_step": 672, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 673, "end_step": 726, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 727, "end_step": 804, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into 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Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_20_45_23_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 14, "v40_language_source": "previous_published_lerobot", "episode_index": 13}
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"subtasks", "start_step": 289, "end_step": 372, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 373, "end_step": 396, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 397, "end_step": 480, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 481, "end_step": 576, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 577, "end_step": 612, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 613, "end_step": 684, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 685, "end_step": 738, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 739, "end_step": 806, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 126, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 127, "end_step": 180, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 181, "end_step": 204, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 205, "end_step": 288, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 289, "end_step": 372, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 373, "end_step": 396, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 397, "end_step": 480, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 481, "end_step": 576, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 577, "end_step": 612, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 613, "end_step": 684, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 685, "end_step": 738, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 739, "end_step": 806, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into 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Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_20_45_23_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 15, "v40_language_source": "previous_published_lerobot", "episode_index": 14}
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"subtasks", "start_step": 295, "end_step": 342, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 343, "end_step": 366, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 367, "end_step": 450, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 451, "end_step": 504, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 505, "end_step": 528, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 529, "end_step": 612, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 613, "end_step": 672, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 673, "end_step": 738, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 132, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 133, "end_step": 192, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 193, "end_step": 222, "id": "subtask-003", "text": "Place 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"id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 619, "end_step": 672, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 673, "end_step": 736, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 144, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 145, "end_step": 204, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 205, "end_step": 228, "id": "subtask-003", "text": "Place 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"task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 535, "end_step": 558, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 559, "end_step": 618, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 619, "end_step": 672, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 673, "end_step": 736, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_20_45_23_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 17, "v40_language_source": "previous_published_lerobot", "episode_index": 16}
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"subtasks", "start_step": 271, "end_step": 324, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 325, "end_step": 336, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 337, "end_step": 396, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 397, "end_step": 450, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 451, "end_step": 468, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 469, "end_step": 534, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 535, "end_step": 588, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 589, "end_step": 656, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 114, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 115, "end_step": 162, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 163, "end_step": 186, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 187, "end_step": 270, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 271, "end_step": 324, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 325, "end_step": 336, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 337, "end_step": 396, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 397, "end_step": 450, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 451, "end_step": 468, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 469, "end_step": 534, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 535, "end_step": 588, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 589, "end_step": 656, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into 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Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_20_45_23_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 18, "v40_language_source": "previous_published_lerobot", "episode_index": 17}
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"subtasks", "start_step": 295, "end_step": 336, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 337, "end_step": 360, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 361, "end_step": 402, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 403, "end_step": 468, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 469, "end_step": 492, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 493, "end_step": 576, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 577, "end_step": 630, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 631, "end_step": 699, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 138, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 139, "end_step": 186, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 187, "end_step": 210, "id": "subtask-003", "text": "Place 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"task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 469, "end_step": 492, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 493, "end_step": 576, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 577, "end_step": 630, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 631, "end_step": 699, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into 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Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_20_45_23_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 19, "v40_language_source": "previous_published_lerobot", "episode_index": 18}
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"id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 517, "end_step": 576, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 577, "end_step": 647, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 108, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 109, "end_step": 150, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 151, "end_step": 174, "id": "subtask-003", "text": "Place 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"task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 427, "end_step": 450, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 451, "end_step": 516, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 517, "end_step": 576, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 577, "end_step": 647, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into 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Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_20_45_23_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 20, "v40_language_source": "previous_published_lerobot", "episode_index": 19}
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"subtasks", "start_step": 361, "end_step": 414, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 415, "end_step": 444, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 445, "end_step": 528, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 529, "end_step": 582, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 583, "end_step": 598, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 599, "end_step": 686, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 687, "end_step": 740, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 741, "end_step": 806, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 132, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 133, "end_step": 252, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 253, "end_step": 276, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 277, "end_step": 360, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 361, "end_step": 414, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 415, "end_step": 444, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 445, "end_step": 528, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 529, "end_step": 582, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 583, "end_step": 598, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 599, "end_step": 686, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 687, "end_step": 740, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 741, "end_step": 806, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into 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Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_20_45_23_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 21, "v40_language_source": "previous_published_lerobot", "episode_index": 20}
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"subtasks", "start_step": 295, "end_step": 354, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 355, "end_step": 378, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 379, "end_step": 480, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 481, "end_step": 540, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 541, "end_step": 576, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 577, "end_step": 654, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 655, "end_step": 714, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 715, "end_step": 778, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 114, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 115, "end_step": 162, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 163, "end_step": 186, "id": "subtask-003", "text": "Place 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"task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 541, "end_step": 576, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 577, "end_step": 654, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 655, "end_step": 714, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 715, "end_step": 778, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into 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Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_20_45_23_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 22, "v40_language_source": "previous_published_lerobot", "episode_index": 21}
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"id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 451, "end_step": 504, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 505, "end_step": 563, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 102, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 103, "end_step": 150, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 151, "end_step": 174, "id": "subtask-003", "text": "Place 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"task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 391, "end_step": 414, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 415, "end_step": 450, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 451, "end_step": 504, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 505, "end_step": 563, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into 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Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_20_45_23_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 23, "v40_language_source": "previous_published_lerobot", "episode_index": 22}
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"subtasks", "start_step": 211, "end_step": 264, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 265, "end_step": 288, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 289, "end_step": 390, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 391, "end_step": 444, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 445, "end_step": 462, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 463, "end_step": 528, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 529, "end_step": 594, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 595, "end_step": 658, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 90, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 91, "end_step": 132, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 133, "end_step": 150, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 151, "end_step": 210, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 211, "end_step": 264, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 265, "end_step": 288, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 289, "end_step": 390, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 391, "end_step": 444, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 445, "end_step": 462, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 463, "end_step": 528, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 529, "end_step": 594, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 595, "end_step": 658, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into 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Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_20_45_23_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 25, "v40_language_source": "previous_published_lerobot", "episode_index": 23}
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"subtasks", "start_step": 223, "end_step": 270, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 271, "end_step": 294, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 295, "end_step": 354, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 355, "end_step": 408, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 409, "end_step": 426, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 427, "end_step": 468, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 469, "end_step": 510, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 511, "end_step": 571, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 102, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 103, "end_step": 138, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 139, "end_step": 162, "id": "subtask-003", "text": "Place 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"id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 577, "end_step": 636, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 637, "end_step": 702, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 102, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 103, "end_step": 138, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 139, "end_step": 168, "id": "subtask-003", "text": "Place 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"task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 457, "end_step": 480, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 481, "end_step": 576, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 577, "end_step": 636, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 637, "end_step": 702, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into 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Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_20_45_23_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 28, "v40_language_source": "previous_published_lerobot", "episode_index": 25}
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"id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 751, "end_step": 816, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 817, "end_step": 887, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 96, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 97, "end_step": 150, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 151, "end_step": 174, "id": "subtask-003", "text": "Place 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"task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 643, "end_step": 672, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 673, "end_step": 750, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 751, "end_step": 816, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 817, "end_step": 887, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into 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"id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1027, "end_step": 1092, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1093, "end_step": 1162, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 204, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 205, "end_step": 276, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 277, "end_step": 294, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 295, "end_step": 348, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 349, "end_step": 396, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 397, "end_step": 420, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 421, "end_step": 678, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 679, "end_step": 744, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 745, "end_step": 768, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 769, "end_step": 1026, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1027, "end_step": 1092, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1093, "end_step": 1162, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_20_45_23_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 32, "v40_language_source": "previous_published_lerobot", "episode_index": 28}
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Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder.", "scene_description": "Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder.", "success_criteria": "All four pens are inside the pen holder and arranged neatly in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 108, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 109, "end_step": 162, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 163, "end_step": 186, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 187, "end_step": 282, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 283, "end_step": 336, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 337, "end_step": 354, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 355, "end_step": 408, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 409, "end_step": 462, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 463, "end_step": 486, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 487, "end_step": 528, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 529, "end_step": 576, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 577, "end_step": 637, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 108, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 109, "end_step": 162, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 163, "end_step": 186, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 187, "end_step": 282, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 283, "end_step": 336, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 337, "end_step": 354, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 355, "end_step": 408, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 409, "end_step": 462, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 463, "end_step": 486, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 487, "end_step": 528, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 529, "end_step": 576, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 577, "end_step": 637, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_20_45_23_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 33, "v40_language_source": "previous_published_lerobot", "episode_index": 29}
+{"source_uid": "850dd04454dd515f", "num_frames": 682, "episode_id": "POC22018_2026_03_17_21_05_50_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_20_45_23_train/POC22018_2026_03_17_21_05_50_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_20_45_23_train/POC22018_2026_03_17_21_05_50_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_20_45_23_train/POC22018_2026_03_17_21_05_50_train/train_0.3.0@2026_03_17_21_05_50.hdf5", "tags": {"task_name": "Pen Collection into Pen Holder", "task_instruction": "Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder.", "scene_description": "Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder.", "success_criteria": "All four pens are inside the pen holder and arranged neatly in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 108, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 109, "end_step": 180, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 181, "end_step": 204, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 205, "end_step": 270, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 271, "end_step": 324, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 325, "end_step": 354, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 355, "end_step": 414, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 415, "end_step": 480, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 481, "end_step": 504, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 505, "end_step": 546, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 547, "end_step": 606, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 607, "end_step": 681, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 108, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 109, "end_step": 180, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 181, "end_step": 204, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 205, "end_step": 270, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 271, "end_step": 324, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 325, "end_step": 354, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 355, "end_step": 414, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 415, "end_step": 480, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 481, "end_step": 504, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 505, "end_step": 546, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 547, "end_step": 606, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 607, "end_step": 681, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_20_45_23_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 34, "v40_language_source": "previous_published_lerobot", "episode_index": 30}
diff --git a/place_pens_in_holder/season_POC22018_2026_03_17_20_45_23_train/lerobot_v2.1/meta/annotations.jsonl b/place_pens_in_holder/season_POC22018_2026_03_17_20_45_23_train/lerobot_v2.1/meta/annotations.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..fd9b9973bf34939b5008d9c5ccf84355e2aaba4d
--- /dev/null
+++ b/place_pens_in_holder/season_POC22018_2026_03_17_20_45_23_train/lerobot_v2.1/meta/annotations.jsonl
@@ -0,0 +1,31 @@
+{"source_uid": "4861c58849e83568", "num_frames": 1149, "episode_id": "POC22018_2026_03_17_20_45_23_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_20_45_23_train/POC22018_2026_03_17_20_45_23_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_20_45_23_train/POC22018_2026_03_17_20_45_23_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_20_45_23_train/POC22018_2026_03_17_20_45_23_train/train_0.3.0@2026_03_17_20_45_23.hdf5", "tags": {"task_name": "Pen Collection into Pen Holder", "task_instruction": "Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder.", "scene_description": "Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder.", "success_criteria": "All four pens are inside the pen holder and arranged neatly in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 220, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 221, "end_step": 328, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 329, "end_step": 358, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 359, "end_step": 514, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 515, "end_step": 610, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 611, "end_step": 646, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 647, "end_step": 808, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 809, "end_step": 880, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 881, "end_step": 910, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 911, "end_step": 1024, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1025, "end_step": 1078, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1079, "end_step": 1148, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 220, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 221, "end_step": 328, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 329, "end_step": 358, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 359, "end_step": 514, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 515, "end_step": 610, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 611, "end_step": 646, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 647, "end_step": 808, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 809, "end_step": 880, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: 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Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_20_45_23_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 0, "v40_language_source": "previous_published_lerobot", "episode_index": 0}
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"subtasks", "start_step": 319, "end_step": 384, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 385, "end_step": 408, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 409, "end_step": 540, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 541, "end_step": 648, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 649, "end_step": 672, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 673, "end_step": 762, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 763, "end_step": 822, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 823, "end_step": 898, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 150, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 151, "end_step": 210, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 211, "end_step": 246, "id": "subtask-003", "text": "Place 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"task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 649, "end_step": 672, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 673, "end_step": 762, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 763, "end_step": 822, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 823, "end_step": 898, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into 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Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_20_45_23_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 1, "v40_language_source": "previous_published_lerobot", "episode_index": 1}
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"id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1099, "end_step": 1206, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1207, "end_step": 1277, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 162, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 163, "end_step": 222, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 223, "end_step": 252, "id": "subtask-003", "text": 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"id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 589, "end_step": 660, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 661, "end_step": 728, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 138, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 139, "end_step": 204, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 205, "end_step": 234, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 235, "end_step": 282, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 283, "end_step": 336, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 337, "end_step": 360, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 361, "end_step": 438, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 439, "end_step": 498, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 499, "end_step": 522, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 523, "end_step": 588, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 589, "end_step": 660, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 661, "end_step": 728, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_20_45_23_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 3, "v40_language_source": "previous_published_lerobot", "episode_index": 3}
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"subtasks", "start_step": 361, "end_step": 426, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 427, "end_step": 456, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 457, "end_step": 540, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 541, "end_step": 606, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 607, "end_step": 636, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 637, "end_step": 702, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 703, "end_step": 756, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 757, "end_step": 825, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 114, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 115, "end_step": 180, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 181, "end_step": 210, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 211, "end_step": 360, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 361, "end_step": 426, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 427, "end_step": 456, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 457, "end_step": 540, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 541, "end_step": 606, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 607, "end_step": 636, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 637, "end_step": 702, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 703, "end_step": 756, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 757, "end_step": 825, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into 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Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_20_45_23_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 4, "v40_language_source": "previous_published_lerobot", "episode_index": 4}
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"subtasks", "start_step": 289, "end_step": 348, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 349, "end_step": 378, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 379, "end_step": 474, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 475, "end_step": 522, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 523, "end_step": 546, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 547, "end_step": 624, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 625, "end_step": 678, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 679, "end_step": 742, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 126, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 127, "end_step": 180, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 181, "end_step": 216, "id": "subtask-003", "text": "Place 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"task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 523, "end_step": 546, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 547, "end_step": 624, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 625, "end_step": 678, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 679, "end_step": 742, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into 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Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_20_45_23_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 5, "v40_language_source": "previous_published_lerobot", "episode_index": 5}
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"subtasks", "start_step": 271, "end_step": 324, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 325, "end_step": 348, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 349, "end_step": 432, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 433, "end_step": 498, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 499, "end_step": 528, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 529, "end_step": 600, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 601, "end_step": 666, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 667, "end_step": 736, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 126, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 127, "end_step": 174, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 175, "end_step": 198, "id": "subtask-003", "text": "Place 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"task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 499, "end_step": 528, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 529, "end_step": 600, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 601, "end_step": 666, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 667, "end_step": 736, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into 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Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_20_45_23_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 6, "v40_language_source": "previous_published_lerobot", "episode_index": 6}
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"subtasks", "start_step": 325, "end_step": 378, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 379, "end_step": 402, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 403, "end_step": 480, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 481, "end_step": 534, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 535, "end_step": 564, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 565, "end_step": 636, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 637, "end_step": 696, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 697, "end_step": 758, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 156, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 157, "end_step": 216, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 217, "end_step": 240, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 241, "end_step": 324, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 325, "end_step": 378, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 379, "end_step": 402, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 403, "end_step": 480, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 481, "end_step": 534, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 535, "end_step": 564, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 565, "end_step": 636, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 637, "end_step": 696, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 697, "end_step": 758, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into 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Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_20_45_23_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 7, "v40_language_source": "previous_published_lerobot", "episode_index": 7}
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"id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 601, "end_step": 666, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 667, "end_step": 735, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 156, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 157, "end_step": 216, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 217, "end_step": 228, "id": "subtask-003", "text": "Place 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"id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1045, "end_step": 1098, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1099, "end_step": 1161, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 342, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 343, "end_step": 396, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 397, "end_step": 426, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 427, "end_step": 714, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 715, "end_step": 780, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 781, "end_step": 810, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 811, "end_step": 900, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 901, "end_step": 954, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 955, "end_step": 984, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 985, "end_step": 1044, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1045, "end_step": 1098, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1099, "end_step": 1161, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and 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Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_20_45_23_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 9, "v40_language_source": "previous_published_lerobot", "episode_index": 9}
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"subtasks", "start_step": 307, "end_step": 354, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 355, "end_step": 384, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 385, "end_step": 450, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 451, "end_step": 498, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 499, "end_step": 522, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 523, "end_step": 582, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 583, "end_step": 624, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 625, "end_step": 694, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 132, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 133, "end_step": 180, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 181, "end_step": 210, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 211, "end_step": 306, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 307, "end_step": 354, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 355, "end_step": 384, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 385, "end_step": 450, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 451, "end_step": 498, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 499, "end_step": 522, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 523, "end_step": 582, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 583, "end_step": 624, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 625, "end_step": 694, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into 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Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_20_45_23_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 11, "v40_language_source": "previous_published_lerobot", "episode_index": 10}
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"subtasks", "start_step": 295, "end_step": 342, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 343, "end_step": 360, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 361, "end_step": 624, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 625, "end_step": 690, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 691, "end_step": 714, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 715, "end_step": 804, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 805, "end_step": 846, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 847, "end_step": 916, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 144, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 145, "end_step": 186, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 187, "end_step": 210, "id": "subtask-003", "text": "Place 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Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_20_45_23_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 12, "v40_language_source": "previous_published_lerobot", "episode_index": 11}
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"id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 757, "end_step": 804, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 805, "end_step": 873, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 120, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 121, "end_step": 174, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 175, "end_step": 204, "id": "subtask-003", "text": "Place 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"task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 643, "end_step": 672, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 673, "end_step": 756, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 757, "end_step": 804, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 805, "end_step": 873, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into 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Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_20_45_23_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 13, "v40_language_source": "previous_published_lerobot", "episode_index": 12}
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"subtasks", "start_step": 301, "end_step": 360, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 361, "end_step": 384, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 385, "end_step": 462, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 463, "end_step": 540, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 541, "end_step": 576, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 577, "end_step": 672, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 673, "end_step": 726, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 727, "end_step": 804, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 114, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 115, "end_step": 186, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 187, "end_step": 210, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 211, "end_step": 300, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 301, "end_step": 360, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 361, "end_step": 384, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 385, "end_step": 462, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 463, "end_step": 540, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 541, "end_step": 576, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 577, "end_step": 672, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 673, "end_step": 726, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 727, "end_step": 804, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into 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Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_20_45_23_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 14, "v40_language_source": "previous_published_lerobot", "episode_index": 13}
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"id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 685, "end_step": 738, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 739, "end_step": 806, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 126, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 127, "end_step": 180, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 181, "end_step": 204, "id": "subtask-003", "text": "Place 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"id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 613, "end_step": 672, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 673, "end_step": 738, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 132, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 133, "end_step": 192, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 193, "end_step": 222, "id": "subtask-003", "text": "Place 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"task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 505, "end_step": 528, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 529, "end_step": 612, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 613, "end_step": 672, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 673, "end_step": 738, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_20_45_23_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 16, "v40_language_source": "previous_published_lerobot", "episode_index": 15}
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"subtasks", "start_step": 313, "end_step": 378, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 379, "end_step": 396, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 397, "end_step": 480, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 481, "end_step": 534, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 535, "end_step": 558, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 559, "end_step": 618, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 619, "end_step": 672, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 673, "end_step": 736, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 144, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 145, "end_step": 204, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 205, "end_step": 228, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 229, "end_step": 312, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 313, "end_step": 378, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 379, "end_step": 396, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 397, "end_step": 480, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 481, "end_step": 534, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 535, "end_step": 558, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 559, "end_step": 618, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 619, "end_step": 672, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 673, "end_step": 736, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into 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Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_20_45_23_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 17, "v40_language_source": "previous_published_lerobot", "episode_index": 16}
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"subtasks", "start_step": 271, "end_step": 324, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 325, "end_step": 336, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 337, "end_step": 396, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 397, "end_step": 450, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 451, "end_step": 468, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 469, "end_step": 534, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 535, "end_step": 588, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 589, "end_step": 656, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 114, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 115, "end_step": 162, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 163, "end_step": 186, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 187, "end_step": 270, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 271, "end_step": 324, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 325, "end_step": 336, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 337, "end_step": 396, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 397, "end_step": 450, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 451, "end_step": 468, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 469, "end_step": 534, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 535, "end_step": 588, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 589, "end_step": 656, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into 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Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_20_45_23_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 18, "v40_language_source": "previous_published_lerobot", "episode_index": 17}
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"subtasks", "start_step": 295, "end_step": 336, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 337, "end_step": 360, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 361, "end_step": 402, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 403, "end_step": 468, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 469, "end_step": 492, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 493, "end_step": 576, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 577, "end_step": 630, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 631, "end_step": 699, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 138, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 139, "end_step": 186, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 187, "end_step": 210, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 211, "end_step": 294, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 295, "end_step": 336, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 337, "end_step": 360, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 361, "end_step": 402, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 403, "end_step": 468, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 469, "end_step": 492, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 493, "end_step": 576, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 577, "end_step": 630, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 631, "end_step": 699, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into 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Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_20_45_23_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 19, "v40_language_source": "previous_published_lerobot", "episode_index": 18}
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"subtasks", "start_step": 235, "end_step": 276, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 277, "end_step": 300, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 301, "end_step": 366, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 367, "end_step": 426, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 427, "end_step": 450, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 451, "end_step": 516, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 517, "end_step": 576, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 577, "end_step": 647, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 108, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 109, "end_step": 150, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 151, "end_step": 174, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 175, "end_step": 234, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 235, "end_step": 276, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 277, "end_step": 300, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 301, "end_step": 366, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 367, "end_step": 426, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 427, "end_step": 450, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 451, "end_step": 516, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 517, "end_step": 576, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 577, "end_step": 647, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into 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"id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 687, "end_step": 740, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 741, "end_step": 806, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 132, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 133, "end_step": 252, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 253, "end_step": 276, "id": "subtask-003", "text": "Place 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"id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 655, "end_step": 714, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 715, "end_step": 778, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 114, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 115, "end_step": 162, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 163, "end_step": 186, "id": "subtask-003", "text": "Place 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"task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 541, "end_step": 576, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 577, "end_step": 654, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 655, "end_step": 714, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 715, "end_step": 778, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into 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Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_20_45_23_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 22, "v40_language_source": "previous_published_lerobot", "episode_index": 21}
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"subtasks", "start_step": 223, "end_step": 264, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 265, "end_step": 288, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 289, "end_step": 342, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 343, "end_step": 390, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 391, "end_step": 414, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 415, "end_step": 450, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 451, "end_step": 504, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 505, "end_step": 563, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 102, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 103, "end_step": 150, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 151, "end_step": 174, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 175, "end_step": 222, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 223, "end_step": 264, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 265, "end_step": 288, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 289, "end_step": 342, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 343, "end_step": 390, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 391, "end_step": 414, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 415, "end_step": 450, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 451, "end_step": 504, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 505, "end_step": 563, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into 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Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_20_45_23_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 23, "v40_language_source": "previous_published_lerobot", "episode_index": 22}
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"id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 529, "end_step": 594, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 595, "end_step": 658, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 90, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 91, "end_step": 132, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 133, "end_step": 150, "id": "subtask-003", "text": "Place 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"task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 445, "end_step": 462, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 463, "end_step": 528, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 529, "end_step": 594, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 595, "end_step": 658, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into 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Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_20_45_23_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 25, "v40_language_source": "previous_published_lerobot", "episode_index": 23}
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"id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 469, "end_step": 510, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 511, "end_step": 571, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 102, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 103, "end_step": 138, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 139, "end_step": 162, "id": "subtask-003", "text": "Place 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"task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 409, "end_step": 426, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 427, "end_step": 468, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 469, "end_step": 510, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 511, "end_step": 571, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into 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Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_20_45_23_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 27, "v40_language_source": "previous_published_lerobot", "episode_index": 24}
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"subtasks", "start_step": 235, "end_step": 282, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 283, "end_step": 306, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 307, "end_step": 390, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 391, "end_step": 456, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 457, "end_step": 480, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 481, "end_step": 576, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 577, "end_step": 636, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 637, "end_step": 702, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 102, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 103, "end_step": 138, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 139, "end_step": 168, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 169, "end_step": 234, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 235, "end_step": 282, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 283, "end_step": 306, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 307, "end_step": 390, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 391, "end_step": 456, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 457, "end_step": 480, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 481, "end_step": 576, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 577, "end_step": 636, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 637, "end_step": 702, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into 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Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_20_45_23_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 28, "v40_language_source": "previous_published_lerobot", "episode_index": 25}
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"id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 751, "end_step": 816, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 817, "end_step": 887, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 96, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 97, "end_step": 150, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 151, "end_step": 174, "id": "subtask-003", "text": "Place 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"id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 643, "end_step": 696, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 697, "end_step": 760, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 108, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 109, "end_step": 216, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 217, "end_step": 240, "id": "subtask-003", "text": "Place 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"task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 553, "end_step": 576, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 577, "end_step": 642, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 643, "end_step": 696, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 697, "end_step": 760, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into 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Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_20_45_23_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 31, "v40_language_source": "previous_published_lerobot", "episode_index": 27}
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"subtasks", "start_step": 349, "end_step": 396, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 397, "end_step": 420, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 421, "end_step": 678, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 679, "end_step": 744, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 745, "end_step": 768, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 769, "end_step": 1026, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1027, "end_step": 1092, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1093, "end_step": 1162, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 204, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 205, "end_step": 276, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 277, "end_step": 294, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 295, "end_step": 348, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 349, "end_step": 396, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 397, "end_step": 420, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 421, "end_step": 678, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 679, "end_step": 744, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 745, "end_step": 768, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 769, "end_step": 1026, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1027, "end_step": 1092, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1093, "end_step": 1162, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and 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Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_20_45_23_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 32, "v40_language_source": "previous_published_lerobot", "episode_index": 28}
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"subtasks", "start_step": 283, "end_step": 336, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 337, "end_step": 354, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 355, "end_step": 408, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 409, "end_step": 462, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 463, "end_step": 486, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 487, "end_step": 528, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 529, "end_step": 576, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 577, "end_step": 637, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 108, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 109, "end_step": 162, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 163, "end_step": 186, "id": "subtask-003", "text": "Place 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"task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 463, "end_step": 486, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 487, "end_step": 528, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 529, "end_step": 576, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 577, "end_step": 637, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into 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"id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 547, "end_step": 606, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 607, "end_step": 681, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 108, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 109, "end_step": 180, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 181, "end_step": 204, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 205, "end_step": 270, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 271, "end_step": 324, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 325, "end_step": 354, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 355, "end_step": 414, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 415, "end_step": 480, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 481, "end_step": 504, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 505, "end_step": 546, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 547, "end_step": 606, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 607, "end_step": 681, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_20_45_23_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 34, "v40_language_source": "previous_published_lerobot", "episode_index": 30}
diff --git a/place_pens_in_holder/season_POC22018_2026_03_17_20_45_23_train/lerobot_v2.1/meta/episodes.jsonl b/place_pens_in_holder/season_POC22018_2026_03_17_20_45_23_train/lerobot_v2.1/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..dba5aa3b56acf333d21502bf13878a8d5531cd5f
--- /dev/null
+++ b/place_pens_in_holder/season_POC22018_2026_03_17_20_45_23_train/lerobot_v2.1/meta/episodes.jsonl
@@ -0,0 +1,31 @@
+{"episode_index": 0, "tasks": ["Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state."], "length": 1149}
+{"episode_index": 1, "tasks": ["Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state."], "length": 899}
+{"episode_index": 2, "tasks": ["Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state."], "length": 1278}
+{"episode_index": 3, "tasks": ["Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state."], "length": 729}
+{"episode_index": 4, "tasks": ["Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state."], "length": 826}
+{"episode_index": 5, "tasks": ["Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state."], "length": 743}
+{"episode_index": 6, "tasks": ["Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state."], "length": 737}
+{"episode_index": 7, "tasks": ["Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state."], "length": 759}
+{"episode_index": 8, "tasks": ["Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state."], "length": 736}
+{"episode_index": 9, "tasks": ["Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state."], "length": 1162}
+{"episode_index": 10, "tasks": ["Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state."], "length": 695}
+{"episode_index": 11, "tasks": ["Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state."], "length": 917}
+{"episode_index": 12, "tasks": ["Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state."], "length": 874}
+{"episode_index": 13, "tasks": ["Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state."], "length": 805}
+{"episode_index": 14, "tasks": ["Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state."], "length": 807}
+{"episode_index": 15, "tasks": ["Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state."], "length": 739}
+{"episode_index": 16, "tasks": ["Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state."], "length": 737}
+{"episode_index": 17, "tasks": ["Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state."], "length": 657}
+{"episode_index": 18, "tasks": ["Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state."], "length": 700}
+{"episode_index": 19, "tasks": ["Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state."], "length": 648}
+{"episode_index": 20, "tasks": ["Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state."], "length": 807}
+{"episode_index": 21, "tasks": ["Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state."], "length": 779}
+{"episode_index": 22, "tasks": ["Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state."], "length": 564}
+{"episode_index": 23, "tasks": ["Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state."], "length": 659}
+{"episode_index": 24, "tasks": ["Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state."], "length": 572}
+{"episode_index": 25, "tasks": ["Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state."], "length": 703}
+{"episode_index": 26, "tasks": ["Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state."], "length": 888}
+{"episode_index": 27, "tasks": ["Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state."], "length": 761}
+{"episode_index": 28, "tasks": ["Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state."], "length": 1163}
+{"episode_index": 29, "tasks": ["Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state."], "length": 638}
+{"episode_index": 30, "tasks": ["Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state."], "length": 682}
diff --git a/place_pens_in_holder/season_POC22018_2026_03_17_20_45_23_train/lerobot_v2.1/meta/episodes_stats.jsonl b/place_pens_in_holder/season_POC22018_2026_03_17_20_45_23_train/lerobot_v2.1/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..0bd642de97c977e6b8ea0fbd470a164b43038ab4
--- /dev/null
+++ b/place_pens_in_holder/season_POC22018_2026_03_17_20_45_23_train/lerobot_v2.1/meta/episodes_stats.jsonl
@@ -0,0 +1,31 @@
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diff --git a/place_pens_in_holder/season_POC22018_2026_03_17_20_45_23_train/lerobot_v2.1/meta/info.json b/place_pens_in_holder/season_POC22018_2026_03_17_20_45_23_train/lerobot_v2.1/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..51849b7e2ac01cdf2de5a65918747d250df17ca4
--- /dev/null
+++ b/place_pens_in_holder/season_POC22018_2026_03_17_20_45_23_train/lerobot_v2.1/meta/info.json
@@ -0,0 +1,537 @@
+{
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+            "names": [
+                "left_arm_tcp_pose_0",
+                "left_arm_tcp_pose_1",
+                "left_arm_tcp_pose_2",
+                "left_arm_tcp_pose_3",
+                "left_arm_tcp_pose_4",
+                "left_arm_tcp_pose_5",
+                "right_arm_tcp_pose_0",
+                "right_arm_tcp_pose_1",
+                "right_arm_tcp_pose_2",
+                "right_arm_tcp_pose_3",
+                "right_arm_tcp_pose_4",
+                "right_arm_tcp_pose_5"
+            ]
+        },
+        "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/place_pens_in_holder/season_POC22018_2026_03_17_20_45_23_train/lerobot_v2.1/meta/modality.json b/place_pens_in_holder/season_POC22018_2026_03_17_20_45_23_train/lerobot_v2.1/meta/modality.json
new file mode 100644
index 0000000000000000000000000000000000000000..a05578e69b2f67b344bf8b72976a7471c3174013
--- /dev/null
+++ b/place_pens_in_holder/season_POC22018_2026_03_17_20_45_23_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/place_pens_in_holder/season_POC22018_2026_03_17_20_45_23_train/lerobot_v2.1/meta/subtasks.jsonl b/place_pens_in_holder/season_POC22018_2026_03_17_20_45_23_train/lerobot_v2.1/meta/subtasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..2808d4a7c8b72b056faf326a45804bd9c1dd7952
--- /dev/null
+++ b/place_pens_in_holder/season_POC22018_2026_03_17_20_45_23_train/lerobot_v2.1/meta/subtasks.jsonl
@@ -0,0 +1,12 @@
+{"subtask_index": 0, "subtask": "Pick up the first pen from the table. | Skill: pick"}
+{"subtask_index": 1, "subtask": "Move the first pen above the pen holder. | Skill: move"}
+{"subtask_index": 2, "subtask": "Place the first pen into the pen holder. | Skill: place"}
+{"subtask_index": 3, "subtask": "Pick up the second pen from the table. | Skill: pick"}
+{"subtask_index": 4, "subtask": "Move the second pen above the pen holder. | Skill: move"}
+{"subtask_index": 5, "subtask": "Place the second pen into the pen holder. | Skill: place"}
+{"subtask_index": 6, "subtask": "Pick up the third pen from the table. | Skill: pick"}
+{"subtask_index": 7, "subtask": "Move the third pen above the pen holder. | Skill: move"}
+{"subtask_index": 8, "subtask": "Place the third pen into the pen holder. | Skill: place"}
+{"subtask_index": 9, "subtask": "Pick up the fourth pen from the table. | Skill: pick"}
+{"subtask_index": 10, "subtask": "Move the fourth pen above the pen holder. | Skill: move"}
+{"subtask_index": 11, "subtask": "Place the fourth pen into the pen holder. | Skill: place"}
diff --git a/place_pens_in_holder/season_POC22018_2026_03_17_20_45_23_train/lerobot_v2.1/meta/tasks.jsonl b/place_pens_in_holder/season_POC22018_2026_03_17_20_45_23_train/lerobot_v2.1/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..b09945479281a8ccdc420ad474c9bb4c698463de
--- /dev/null
+++ b/place_pens_in_holder/season_POC22018_2026_03_17_20_45_23_train/lerobot_v2.1/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 0, "task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state."}
diff --git a/place_pens_in_holder/season_POC22018_2026_03_17_20_45_23_train/lerobot_v2.1/meta/v40_validation.json b/place_pens_in_holder/season_POC22018_2026_03_17_20_45_23_train/lerobot_v2.1/meta/v40_validation.json
new file mode 100644
index 0000000000000000000000000000000000000000..6cd11fcb82f61185a976be7216d7badc0105515a
--- /dev/null
+++ b/place_pens_in_holder/season_POC22018_2026_03_17_20_45_23_train/lerobot_v2.1/meta/v40_validation.json
@@ -0,0 +1,15 @@
+{
+  "status": "passed",
+  "episodes": 31,
+  "frames": 24813,
+  "video_frames": {
+    "observation.images.head_left": 24813,
+    "observation.images.wrist_left": 24813,
+    "observation.images.wrist_right": 24813,
+    "observation.images.head_right": 24813,
+    "observation.images.tactile_deform": 24813,
+    "observation.images.tactile_raw": 24813
+  },
+  "tcp_validation": "Exact float32 equality with each source arm TCP dataset sampled by its own aligned_index",
+  "language_loaded": 31
+}
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Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_20_45_23_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 1, "v40_language_source": "previous_published_lerobot", "episode_index": 1}
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"subtasks", "start_step": 331, "end_step": 378, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 379, "end_step": 408, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 409, "end_step": 714, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 715, "end_step": 762, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 763, "end_step": 798, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 799, "end_step": 1098, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1099, "end_step": 1206, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1207, "end_step": 1277, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 162, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 163, "end_step": 222, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 223, "end_step": 252, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 253, "end_step": 330, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 331, "end_step": 378, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 379, "end_step": 408, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 409, "end_step": 714, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 715, "end_step": 762, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 763, "end_step": 798, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 799, "end_step": 1098, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1099, "end_step": 1206, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1207, "end_step": 1277, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and 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Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_20_45_23_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 2, "v40_language_source": "previous_published_lerobot", "episode_index": 2}
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"subtasks", "start_step": 283, "end_step": 336, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 337, "end_step": 360, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 361, "end_step": 438, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 439, "end_step": 498, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 499, "end_step": 522, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 523, "end_step": 588, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 589, "end_step": 660, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 661, "end_step": 728, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 138, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 139, "end_step": 204, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 205, "end_step": 234, "id": "subtask-003", "text": "Place 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"task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 499, "end_step": 522, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 523, "end_step": 588, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 589, "end_step": 660, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 661, "end_step": 728, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into 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Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_20_45_23_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 3, "v40_language_source": "previous_published_lerobot", "episode_index": 3}
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"subtasks", "start_step": 361, "end_step": 426, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 427, "end_step": 456, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 457, "end_step": 540, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 541, "end_step": 606, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 607, "end_step": 636, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 637, "end_step": 702, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 703, "end_step": 756, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 757, "end_step": 825, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 114, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 115, "end_step": 180, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 181, "end_step": 210, "id": "subtask-003", "text": "Place 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"task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 607, "end_step": 636, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 637, "end_step": 702, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 703, "end_step": 756, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 757, "end_step": 825, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_20_45_23_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 4, "v40_language_source": "previous_published_lerobot", "episode_index": 4}
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The robot needs to collect the pens one by one and place them neatly into the pen holder.", "success_criteria": "All four pens are inside the pen holder and arranged neatly in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 126, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 127, "end_step": 180, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 181, "end_step": 216, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 217, "end_step": 288, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 289, "end_step": 348, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 349, "end_step": 378, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 379, "end_step": 474, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 475, "end_step": 522, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 523, "end_step": 546, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 547, "end_step": 624, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 625, "end_step": 678, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 679, "end_step": 742, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 126, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 127, "end_step": 180, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 181, "end_step": 216, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 217, "end_step": 288, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 289, "end_step": 348, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 349, "end_step": 378, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 379, "end_step": 474, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 475, "end_step": 522, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 523, "end_step": 546, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 547, "end_step": 624, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 625, "end_step": 678, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 679, "end_step": 742, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into 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Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_20_45_23_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 5, "v40_language_source": "previous_published_lerobot", "episode_index": 5}
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The robot needs to collect the pens one by one and place them neatly into the pen holder.", "success_criteria": "All four pens are inside the pen holder and arranged neatly in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 126, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 127, "end_step": 174, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 175, "end_step": 198, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 199, "end_step": 270, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 271, "end_step": 324, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 325, "end_step": 348, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 349, "end_step": 432, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 433, "end_step": 498, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 499, "end_step": 528, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 529, "end_step": 600, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 601, "end_step": 666, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 667, "end_step": 736, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 126, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 127, "end_step": 174, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 175, "end_step": 198, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 199, "end_step": 270, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 271, "end_step": 324, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 325, "end_step": 348, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 349, "end_step": 432, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 433, "end_step": 498, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 499, "end_step": 528, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 529, "end_step": 600, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 601, "end_step": 666, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 667, "end_step": 736, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into 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Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_20_45_23_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 6, "v40_language_source": "previous_published_lerobot", "episode_index": 6}
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The robot needs to collect the pens one by one and place them neatly into the pen holder.", "success_criteria": "All four pens are inside the pen holder and arranged neatly in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 156, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 157, "end_step": 216, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 217, "end_step": 240, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 241, "end_step": 324, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 325, "end_step": 378, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 379, "end_step": 402, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 403, "end_step": 480, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 481, "end_step": 534, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 535, "end_step": 564, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 565, "end_step": 636, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 637, "end_step": 696, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 697, "end_step": 758, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 156, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 157, "end_step": 216, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 217, "end_step": 240, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 241, "end_step": 324, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 325, "end_step": 378, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 379, "end_step": 402, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 403, "end_step": 480, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 481, "end_step": 534, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 535, "end_step": 564, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 565, "end_step": 636, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 637, "end_step": 696, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 697, "end_step": 758, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into 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Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_20_45_23_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 7, "v40_language_source": "previous_published_lerobot", "episode_index": 7}
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"subtasks", "start_step": 283, "end_step": 360, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 361, "end_step": 384, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 385, "end_step": 474, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 475, "end_step": 522, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 523, "end_step": 546, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 547, "end_step": 600, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 601, "end_step": 666, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 667, "end_step": 735, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 156, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 157, "end_step": 216, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 217, "end_step": 228, "id": "subtask-003", "text": "Place 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Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_20_45_23_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 8, "v40_language_source": "previous_published_lerobot", "episode_index": 8}
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"id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1045, "end_step": 1098, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1099, "end_step": 1161, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 342, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 343, "end_step": 396, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 397, "end_step": 426, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 427, "end_step": 714, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 715, "end_step": 780, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 781, "end_step": 810, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 811, "end_step": 900, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 901, "end_step": 954, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: 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Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_20_45_23_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 9, "v40_language_source": "previous_published_lerobot", "episode_index": 9}
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"id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 583, "end_step": 624, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 625, "end_step": 694, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 132, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 133, "end_step": 180, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 181, "end_step": 210, "id": "subtask-003", "text": "Place 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Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_20_45_23_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 11, "v40_language_source": "previous_published_lerobot", "episode_index": 10}
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"subtasks", "start_step": 295, "end_step": 342, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 343, "end_step": 360, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 361, "end_step": 624, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 625, "end_step": 690, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 691, "end_step": 714, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 715, "end_step": 804, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 805, "end_step": 846, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 847, "end_step": 916, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 144, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 145, "end_step": 186, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 187, "end_step": 210, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 211, "end_step": 294, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 295, "end_step": 342, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 343, "end_step": 360, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 361, "end_step": 624, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 625, "end_step": 690, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 691, "end_step": 714, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 715, "end_step": 804, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 805, "end_step": 846, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 847, "end_step": 916, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into 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Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_20_45_23_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 12, "v40_language_source": "previous_published_lerobot", "episode_index": 11}
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"subtasks", "start_step": 403, "end_step": 480, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 481, "end_step": 516, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 517, "end_step": 588, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 589, "end_step": 642, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 643, "end_step": 672, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 673, "end_step": 756, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 757, "end_step": 804, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 805, "end_step": 873, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 120, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 121, "end_step": 174, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 175, "end_step": 204, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 205, "end_step": 402, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 403, "end_step": 480, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 481, "end_step": 516, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 517, "end_step": 588, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 589, "end_step": 642, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 643, "end_step": 672, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 673, "end_step": 756, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 757, "end_step": 804, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 805, "end_step": 873, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into 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Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_20_45_23_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 13, "v40_language_source": "previous_published_lerobot", "episode_index": 12}
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"id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 673, "end_step": 726, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 727, "end_step": 804, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 114, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 115, "end_step": 186, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 187, "end_step": 210, "id": "subtask-003", "text": "Place 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"task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 541, "end_step": 576, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 577, "end_step": 672, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 673, "end_step": 726, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 727, "end_step": 804, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into 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Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_20_45_23_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 14, "v40_language_source": "previous_published_lerobot", "episode_index": 13}
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"subtasks", "start_step": 289, "end_step": 372, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 373, "end_step": 396, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 397, "end_step": 480, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 481, "end_step": 576, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 577, "end_step": 612, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 613, "end_step": 684, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 685, "end_step": 738, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 739, "end_step": 806, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 126, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 127, "end_step": 180, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 181, "end_step": 204, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 205, "end_step": 288, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 289, "end_step": 372, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 373, "end_step": 396, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 397, "end_step": 480, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 481, "end_step": 576, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 577, "end_step": 612, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 613, "end_step": 684, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 685, "end_step": 738, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 739, "end_step": 806, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_20_45_23_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 15, "v40_language_source": "previous_published_lerobot", "episode_index": 14}
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"subtasks", "start_step": 295, "end_step": 342, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 343, "end_step": 366, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 367, "end_step": 450, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 451, "end_step": 504, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 505, "end_step": 528, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 529, "end_step": 612, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 613, "end_step": 672, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 673, "end_step": 738, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 132, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 133, "end_step": 192, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 193, "end_step": 222, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 223, "end_step": 294, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 295, "end_step": 342, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 343, "end_step": 366, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 367, "end_step": 450, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 451, "end_step": 504, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 505, "end_step": 528, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 529, "end_step": 612, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 613, "end_step": 672, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 673, "end_step": 738, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into 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Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_20_45_23_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 16, "v40_language_source": "previous_published_lerobot", "episode_index": 15}
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The robot needs to collect the pens one by one and place them neatly into the pen holder.", "success_criteria": "All four pens are inside the pen holder and arranged neatly in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 144, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 145, "end_step": 204, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 205, "end_step": 228, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 229, "end_step": 312, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 313, "end_step": 378, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 379, "end_step": 396, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 397, "end_step": 480, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 481, "end_step": 534, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 535, "end_step": 558, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 559, "end_step": 618, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 619, "end_step": 672, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 673, "end_step": 736, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 144, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 145, "end_step": 204, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 205, "end_step": 228, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 229, "end_step": 312, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 313, "end_step": 378, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 379, "end_step": 396, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 397, "end_step": 480, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 481, "end_step": 534, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 535, "end_step": 558, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 559, "end_step": 618, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 619, "end_step": 672, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 673, "end_step": 736, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into 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Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_20_45_23_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 17, "v40_language_source": "previous_published_lerobot", "episode_index": 16}
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"subtasks", "start_step": 271, "end_step": 324, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 325, "end_step": 336, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 337, "end_step": 396, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 397, "end_step": 450, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 451, "end_step": 468, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 469, "end_step": 534, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 535, "end_step": 588, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 589, "end_step": 656, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 114, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 115, "end_step": 162, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 163, "end_step": 186, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 187, "end_step": 270, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 271, "end_step": 324, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 325, "end_step": 336, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 337, "end_step": 396, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 397, "end_step": 450, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 451, "end_step": 468, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 469, "end_step": 534, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 535, "end_step": 588, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 589, "end_step": 656, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_20_45_23_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 18, "v40_language_source": "previous_published_lerobot", "episode_index": 17}
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"subtasks", "start_step": 295, "end_step": 336, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 337, "end_step": 360, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 361, "end_step": 402, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 403, "end_step": 468, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 469, "end_step": 492, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 493, "end_step": 576, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 577, "end_step": 630, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 631, "end_step": 699, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 138, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 139, "end_step": 186, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 187, "end_step": 210, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 211, "end_step": 294, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 295, "end_step": 336, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 337, "end_step": 360, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 361, "end_step": 402, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 403, "end_step": 468, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 469, "end_step": 492, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 493, "end_step": 576, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 577, "end_step": 630, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 631, "end_step": 699, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into 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Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_20_45_23_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 19, "v40_language_source": "previous_published_lerobot", "episode_index": 18}
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"subtasks", "start_step": 235, "end_step": 276, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 277, "end_step": 300, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 301, "end_step": 366, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 367, "end_step": 426, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 427, "end_step": 450, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 451, "end_step": 516, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 517, "end_step": 576, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 577, "end_step": 647, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 108, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 109, "end_step": 150, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 151, "end_step": 174, "id": "subtask-003", "text": "Place 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"task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 427, "end_step": 450, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 451, "end_step": 516, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 517, "end_step": 576, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 577, "end_step": 647, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into 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Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_20_45_23_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 20, "v40_language_source": "previous_published_lerobot", "episode_index": 19}
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"subtasks", "start_step": 361, "end_step": 414, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 415, "end_step": 444, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 445, "end_step": 528, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 529, "end_step": 582, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 583, "end_step": 598, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 599, "end_step": 686, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 687, "end_step": 740, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 741, "end_step": 806, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 132, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 133, "end_step": 252, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 253, "end_step": 276, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 277, "end_step": 360, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 361, "end_step": 414, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 415, "end_step": 444, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 445, "end_step": 528, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 529, "end_step": 582, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 583, "end_step": 598, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 599, "end_step": 686, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 687, "end_step": 740, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 741, "end_step": 806, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_20_45_23_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 21, "v40_language_source": "previous_published_lerobot", "episode_index": 20}
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The robot needs to collect the pens one by one and place them neatly into the pen holder.", "success_criteria": "All four pens are inside the pen holder and arranged neatly in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 114, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 115, "end_step": 162, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 163, "end_step": 186, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 187, "end_step": 294, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 295, "end_step": 354, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 355, "end_step": 378, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 379, "end_step": 480, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 481, "end_step": 540, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 541, "end_step": 576, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 577, "end_step": 654, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 655, "end_step": 714, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 715, "end_step": 778, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 114, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 115, "end_step": 162, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 163, "end_step": 186, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 187, "end_step": 294, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 295, "end_step": 354, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 355, "end_step": 378, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 379, "end_step": 480, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 481, "end_step": 540, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 541, "end_step": 576, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 577, "end_step": 654, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 655, "end_step": 714, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 715, "end_step": 778, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into 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Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_20_45_23_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 22, "v40_language_source": "previous_published_lerobot", "episode_index": 21}
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"subtasks", "start_step": 223, "end_step": 264, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 265, "end_step": 288, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 289, "end_step": 342, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 343, "end_step": 390, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 391, "end_step": 414, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 415, "end_step": 450, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 451, "end_step": 504, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 505, "end_step": 563, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 102, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 103, "end_step": 150, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 151, "end_step": 174, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 175, "end_step": 222, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 223, "end_step": 264, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 265, "end_step": 288, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 289, "end_step": 342, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 343, "end_step": 390, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 391, "end_step": 414, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 415, "end_step": 450, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 451, "end_step": 504, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 505, "end_step": 563, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into 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Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_20_45_23_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 23, "v40_language_source": "previous_published_lerobot", "episode_index": 22}
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"subtasks", "start_step": 211, "end_step": 264, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 265, "end_step": 288, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 289, "end_step": 390, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 391, "end_step": 444, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 445, "end_step": 462, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 463, "end_step": 528, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 529, "end_step": 594, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 595, "end_step": 658, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 90, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 91, "end_step": 132, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 133, "end_step": 150, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 151, "end_step": 210, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 211, "end_step": 264, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 265, "end_step": 288, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 289, "end_step": 390, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 391, "end_step": 444, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 445, "end_step": 462, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 463, "end_step": 528, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 529, "end_step": 594, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 595, "end_step": 658, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_20_45_23_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 25, "v40_language_source": "previous_published_lerobot", "episode_index": 23}
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"subtasks", "start_step": 223, "end_step": 270, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 271, "end_step": 294, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 295, "end_step": 354, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 355, "end_step": 408, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 409, "end_step": 426, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 427, "end_step": 468, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 469, "end_step": 510, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 511, "end_step": 571, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 102, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 103, "end_step": 138, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 139, "end_step": 162, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 163, "end_step": 222, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 223, "end_step": 270, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 271, "end_step": 294, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 295, "end_step": 354, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 355, "end_step": 408, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 409, "end_step": 426, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 427, "end_step": 468, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 469, "end_step": 510, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 511, "end_step": 571, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into 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Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_20_45_23_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 27, "v40_language_source": "previous_published_lerobot", "episode_index": 24}
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"subtasks", "start_step": 235, "end_step": 282, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 283, "end_step": 306, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 307, "end_step": 390, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 391, "end_step": 456, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 457, "end_step": 480, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 481, "end_step": 576, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 577, "end_step": 636, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 637, "end_step": 702, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 102, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 103, "end_step": 138, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 139, "end_step": 168, "id": "subtask-003", "text": "Place 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"task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 457, "end_step": 480, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 481, "end_step": 576, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 577, "end_step": 636, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 637, "end_step": 702, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into 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Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_20_45_23_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 28, "v40_language_source": "previous_published_lerobot", "episode_index": 25}
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"subtasks", "start_step": 229, "end_step": 288, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 289, "end_step": 312, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 313, "end_step": 564, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 565, "end_step": 642, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 643, "end_step": 672, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 673, "end_step": 750, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 751, "end_step": 816, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 817, "end_step": 887, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 96, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 97, "end_step": 150, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 151, "end_step": 174, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 175, "end_step": 228, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 229, "end_step": 288, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 289, "end_step": 312, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 313, "end_step": 564, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 565, "end_step": 642, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 643, "end_step": 672, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 673, "end_step": 750, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 751, "end_step": 816, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 817, "end_step": 887, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_20_45_23_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 30, "v40_language_source": "previous_published_lerobot", "episode_index": 26}
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"subtasks", "start_step": 337, "end_step": 402, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 403, "end_step": 426, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 427, "end_step": 498, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 499, "end_step": 552, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 553, "end_step": 576, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 577, "end_step": 642, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 643, "end_step": 696, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 697, "end_step": 760, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 108, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 109, "end_step": 216, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 217, "end_step": 240, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 241, "end_step": 336, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 337, "end_step": 402, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 403, "end_step": 426, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 427, "end_step": 498, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 499, "end_step": 552, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 553, "end_step": 576, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 577, "end_step": 642, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 643, "end_step": 696, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 697, "end_step": 760, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into 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Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_20_45_23_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 31, "v40_language_source": "previous_published_lerobot", "episode_index": 27}
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"id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1027, "end_step": 1092, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1093, "end_step": 1162, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 204, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 205, "end_step": 276, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 277, "end_step": 294, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 295, "end_step": 348, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 349, "end_step": 396, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 397, "end_step": 420, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 421, "end_step": 678, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 679, "end_step": 744, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: 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Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_20_45_23_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 32, "v40_language_source": "previous_published_lerobot", "episode_index": 28}
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The robot needs to collect the pens one by one and place them neatly into the pen holder.", "success_criteria": "All four pens are inside the pen holder and arranged neatly in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 108, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 109, "end_step": 162, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 163, "end_step": 186, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 187, "end_step": 282, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 283, "end_step": 336, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 337, "end_step": 354, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 355, "end_step": 408, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 409, "end_step": 462, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 463, "end_step": 486, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 487, "end_step": 528, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 529, "end_step": 576, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 577, "end_step": 637, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 108, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 109, "end_step": 162, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 163, "end_step": 186, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 187, "end_step": 282, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 283, "end_step": 336, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 337, "end_step": 354, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 355, "end_step": 408, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 409, "end_step": 462, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 463, "end_step": 486, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 487, "end_step": 528, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 529, "end_step": 576, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 577, "end_step": 637, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_20_45_23_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 33, "v40_language_source": "previous_published_lerobot", "episode_index": 29}
+{"source_uid": "850dd04454dd515f", "num_frames": 682, "episode_id": "POC22018_2026_03_17_21_05_50_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_20_45_23_train/POC22018_2026_03_17_21_05_50_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_20_45_23_train/POC22018_2026_03_17_21_05_50_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_20_45_23_train/POC22018_2026_03_17_21_05_50_train/train_0.3.0@2026_03_17_21_05_50.hdf5", "tags": {"task_name": "Pen Collection into Pen Holder", "task_instruction": "Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder.", "scene_description": "Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder.", "success_criteria": "All four pens are inside the pen holder and arranged neatly in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 108, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 109, "end_step": 180, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 181, "end_step": 204, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 205, "end_step": 270, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 271, "end_step": 324, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 325, "end_step": 354, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 355, "end_step": 414, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 415, "end_step": 480, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 481, "end_step": 504, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 505, "end_step": 546, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 547, "end_step": 606, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 607, "end_step": 681, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 108, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 109, "end_step": 180, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 181, "end_step": 204, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 205, "end_step": 270, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 271, "end_step": 324, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 325, "end_step": 354, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 355, "end_step": 414, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 415, "end_step": 480, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 481, "end_step": 504, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 505, "end_step": 546, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 547, "end_step": 606, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 607, "end_step": 681, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_20_45_23_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 34, "v40_language_source": "previous_published_lerobot", "episode_index": 30}
diff --git a/place_pens_in_holder/season_POC22018_2026_03_17_20_45_23_train/lerobot_v3.0/meta/annotations.jsonl b/place_pens_in_holder/season_POC22018_2026_03_17_20_45_23_train/lerobot_v3.0/meta/annotations.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..fd9b9973bf34939b5008d9c5ccf84355e2aaba4d
--- /dev/null
+++ b/place_pens_in_holder/season_POC22018_2026_03_17_20_45_23_train/lerobot_v3.0/meta/annotations.jsonl
@@ -0,0 +1,31 @@
+{"source_uid": "4861c58849e83568", "num_frames": 1149, "episode_id": "POC22018_2026_03_17_20_45_23_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_20_45_23_train/POC22018_2026_03_17_20_45_23_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_20_45_23_train/POC22018_2026_03_17_20_45_23_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_20_45_23_train/POC22018_2026_03_17_20_45_23_train/train_0.3.0@2026_03_17_20_45_23.hdf5", "tags": {"task_name": "Pen Collection into Pen Holder", "task_instruction": "Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder.", "scene_description": "Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder.", "success_criteria": "All four pens are inside the pen holder and arranged neatly in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 220, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 221, "end_step": 328, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 329, "end_step": 358, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 359, "end_step": 514, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 515, "end_step": 610, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 611, "end_step": 646, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 647, "end_step": 808, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 809, "end_step": 880, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 881, "end_step": 910, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 911, "end_step": 1024, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1025, "end_step": 1078, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1079, "end_step": 1148, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 220, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 221, "end_step": 328, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 329, "end_step": 358, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 359, "end_step": 514, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 515, "end_step": 610, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 611, "end_step": 646, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 647, "end_step": 808, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 809, "end_step": 880, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 881, "end_step": 910, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 911, "end_step": 1024, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1025, "end_step": 1078, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1079, "end_step": 1148, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_20_45_23_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 0, "v40_language_source": "previous_published_lerobot", "episode_index": 0}
+{"source_uid": "127359d6f68cfe32", "num_frames": 899, "episode_id": "POC22018_2026_03_17_20_46_59_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_20_45_23_train/POC22018_2026_03_17_20_46_59_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_20_45_23_train/POC22018_2026_03_17_20_46_59_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pick_place_pen/season_POC22018_2026_03_17_20_45_23_train/POC22018_2026_03_17_20_46_59_train/train_0.3.0@2026_03_17_20_46_59.hdf5", "tags": {"task_name": "Pen Collection into Pen Holder", "task_instruction": "Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder.", "scene_description": "Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder.", "success_criteria": "All four pens are inside the pen holder and arranged neatly in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 150, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 151, "end_step": 210, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 211, "end_step": 246, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 247, "end_step": 318, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 319, "end_step": 384, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 385, "end_step": 408, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 409, "end_step": 540, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 541, "end_step": 648, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 649, "end_step": 672, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 673, "end_step": 762, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 763, "end_step": 822, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 823, "end_step": 898, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 150, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 151, "end_step": 210, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 211, "end_step": 246, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 247, "end_step": 318, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 319, "end_step": 384, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 385, "end_step": 408, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 409, "end_step": 540, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 541, "end_step": 648, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 649, "end_step": 672, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 673, "end_step": 762, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 763, "end_step": 822, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 823, "end_step": 898, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into 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Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_20_45_23_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 1, "v40_language_source": "previous_published_lerobot", "episode_index": 1}
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"subtasks", "start_step": 331, "end_step": 378, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 379, "end_step": 408, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 409, "end_step": 714, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 715, "end_step": 762, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 763, "end_step": 798, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 799, "end_step": 1098, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1099, "end_step": 1206, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1207, "end_step": 1277, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 162, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 163, "end_step": 222, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 223, "end_step": 252, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 253, "end_step": 330, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 331, "end_step": 378, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 379, "end_step": 408, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 409, "end_step": 714, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 715, "end_step": 762, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 763, "end_step": 798, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 799, "end_step": 1098, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1099, "end_step": 1206, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1207, "end_step": 1277, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and 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Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_20_45_23_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 2, "v40_language_source": "previous_published_lerobot", "episode_index": 2}
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"subtasks", "start_step": 283, "end_step": 336, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 337, "end_step": 360, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 361, "end_step": 438, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 439, "end_step": 498, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 499, "end_step": 522, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 523, "end_step": 588, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 589, "end_step": 660, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 661, "end_step": 728, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 138, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 139, "end_step": 204, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 205, "end_step": 234, "id": "subtask-003", "text": "Place 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"task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 499, "end_step": 522, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 523, "end_step": 588, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 589, "end_step": 660, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 661, "end_step": 728, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into 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Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_20_45_23_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 3, "v40_language_source": "previous_published_lerobot", "episode_index": 3}
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"subtasks", "start_step": 361, "end_step": 426, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 427, "end_step": 456, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 457, "end_step": 540, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 541, "end_step": 606, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 607, "end_step": 636, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 637, "end_step": 702, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 703, "end_step": 756, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 757, "end_step": 825, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 114, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 115, "end_step": 180, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 181, "end_step": 210, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 211, "end_step": 360, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 361, "end_step": 426, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 427, "end_step": 456, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 457, "end_step": 540, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 541, "end_step": 606, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 607, "end_step": 636, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 637, "end_step": 702, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 703, "end_step": 756, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 757, "end_step": 825, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_20_45_23_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 4, "v40_language_source": "previous_published_lerobot", "episode_index": 4}
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The robot needs to collect the pens one by one and place them neatly into the pen holder.", "success_criteria": "All four pens are inside the pen holder and arranged neatly in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 126, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 127, "end_step": 180, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 181, "end_step": 216, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 217, "end_step": 288, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 289, "end_step": 348, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 349, "end_step": 378, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 379, "end_step": 474, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 475, "end_step": 522, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 523, "end_step": 546, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 547, "end_step": 624, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 625, "end_step": 678, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 679, "end_step": 742, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 126, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 127, "end_step": 180, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 181, "end_step": 216, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 217, "end_step": 288, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 289, "end_step": 348, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 349, "end_step": 378, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 379, "end_step": 474, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 475, "end_step": 522, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 523, "end_step": 546, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 547, "end_step": 624, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 625, "end_step": 678, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 679, "end_step": 742, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into 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Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_20_45_23_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 5, "v40_language_source": "previous_published_lerobot", "episode_index": 5}
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"subtasks", "start_step": 271, "end_step": 324, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 325, "end_step": 348, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 349, "end_step": 432, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 433, "end_step": 498, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 499, "end_step": 528, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 529, "end_step": 600, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 601, "end_step": 666, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 667, "end_step": 736, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 126, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 127, "end_step": 174, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 175, "end_step": 198, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 199, "end_step": 270, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 271, "end_step": 324, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 325, "end_step": 348, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 349, "end_step": 432, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 433, "end_step": 498, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 499, "end_step": 528, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 529, "end_step": 600, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 601, "end_step": 666, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 667, "end_step": 736, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into 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Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_20_45_23_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 6, "v40_language_source": "previous_published_lerobot", "episode_index": 6}
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"subtasks", "start_step": 325, "end_step": 378, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 379, "end_step": 402, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 403, "end_step": 480, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 481, "end_step": 534, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 535, "end_step": 564, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 565, "end_step": 636, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 637, "end_step": 696, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 697, "end_step": 758, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 156, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 157, "end_step": 216, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 217, "end_step": 240, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 241, "end_step": 324, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 325, "end_step": 378, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 379, "end_step": 402, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 403, "end_step": 480, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 481, "end_step": 534, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 535, "end_step": 564, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 565, "end_step": 636, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 637, "end_step": 696, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 697, "end_step": 758, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_20_45_23_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 7, "v40_language_source": "previous_published_lerobot", "episode_index": 7}
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"subtasks", "start_step": 283, "end_step": 360, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 361, "end_step": 384, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 385, "end_step": 474, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 475, "end_step": 522, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 523, "end_step": 546, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 547, "end_step": 600, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 601, "end_step": 666, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 667, "end_step": 735, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 156, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 157, "end_step": 216, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 217, "end_step": 228, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 229, "end_step": 282, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 283, "end_step": 360, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 361, "end_step": 384, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 385, "end_step": 474, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 475, "end_step": 522, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 523, "end_step": 546, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 547, "end_step": 600, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 601, "end_step": 666, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 667, "end_step": 735, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into 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Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_20_45_23_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 8, "v40_language_source": "previous_published_lerobot", "episode_index": 8}
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"id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1045, "end_step": 1098, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1099, "end_step": 1161, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 342, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 343, "end_step": 396, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 397, "end_step": 426, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 427, "end_step": 714, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 715, "end_step": 780, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 781, "end_step": 810, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 811, "end_step": 900, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 901, "end_step": 954, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: 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Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_20_45_23_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 9, "v40_language_source": "previous_published_lerobot", "episode_index": 9}
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"subtasks", "start_step": 307, "end_step": 354, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 355, "end_step": 384, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 385, "end_step": 450, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 451, "end_step": 498, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 499, "end_step": 522, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 523, "end_step": 582, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 583, "end_step": 624, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 625, "end_step": 694, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 132, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 133, "end_step": 180, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 181, "end_step": 210, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 211, "end_step": 306, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 307, "end_step": 354, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 355, "end_step": 384, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 385, "end_step": 450, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 451, "end_step": 498, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 499, "end_step": 522, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 523, "end_step": 582, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 583, "end_step": 624, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 625, "end_step": 694, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into 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Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_20_45_23_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 11, "v40_language_source": "previous_published_lerobot", "episode_index": 10}
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"subtasks", "start_step": 295, "end_step": 342, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 343, "end_step": 360, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 361, "end_step": 624, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 625, "end_step": 690, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 691, "end_step": 714, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 715, "end_step": 804, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 805, "end_step": 846, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 847, "end_step": 916, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 144, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 145, "end_step": 186, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 187, "end_step": 210, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 211, "end_step": 294, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 295, "end_step": 342, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 343, "end_step": 360, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 361, "end_step": 624, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 625, "end_step": 690, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 691, "end_step": 714, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 715, "end_step": 804, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 805, "end_step": 846, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 847, "end_step": 916, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into 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Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_20_45_23_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 12, "v40_language_source": "previous_published_lerobot", "episode_index": 11}
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"subtasks", "start_step": 403, "end_step": 480, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 481, "end_step": 516, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 517, "end_step": 588, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 589, "end_step": 642, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 643, "end_step": 672, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 673, "end_step": 756, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 757, "end_step": 804, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 805, "end_step": 873, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 120, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 121, "end_step": 174, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 175, "end_step": 204, "id": "subtask-003", "text": "Place 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"task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 643, "end_step": 672, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 673, "end_step": 756, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 757, "end_step": 804, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 805, "end_step": 873, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into 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Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_20_45_23_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 13, "v40_language_source": "previous_published_lerobot", "episode_index": 12}
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"subtasks", "start_step": 301, "end_step": 360, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 361, "end_step": 384, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 385, "end_step": 462, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 463, "end_step": 540, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 541, "end_step": 576, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 577, "end_step": 672, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 673, "end_step": 726, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 727, "end_step": 804, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 114, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 115, "end_step": 186, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 187, "end_step": 210, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 211, "end_step": 300, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 301, "end_step": 360, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 361, "end_step": 384, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 385, "end_step": 462, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 463, "end_step": 540, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 541, "end_step": 576, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 577, "end_step": 672, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 673, "end_step": 726, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 727, "end_step": 804, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into 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Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_20_45_23_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 14, "v40_language_source": "previous_published_lerobot", "episode_index": 13}
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"subtasks", "start_step": 289, "end_step": 372, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 373, "end_step": 396, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 397, "end_step": 480, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 481, "end_step": 576, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 577, "end_step": 612, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 613, "end_step": 684, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 685, "end_step": 738, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 739, "end_step": 806, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 126, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 127, "end_step": 180, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 181, "end_step": 204, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 205, "end_step": 288, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 289, "end_step": 372, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 373, "end_step": 396, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 397, "end_step": 480, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 481, "end_step": 576, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 577, "end_step": 612, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 613, "end_step": 684, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 685, "end_step": 738, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 739, "end_step": 806, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into 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Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_20_45_23_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 15, "v40_language_source": "previous_published_lerobot", "episode_index": 14}
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"subtasks", "start_step": 295, "end_step": 342, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 343, "end_step": 366, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 367, "end_step": 450, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 451, "end_step": 504, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 505, "end_step": 528, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 529, "end_step": 612, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 613, "end_step": 672, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 673, "end_step": 738, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 132, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 133, "end_step": 192, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 193, "end_step": 222, "id": "subtask-003", "text": "Place 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"task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 505, "end_step": 528, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 529, "end_step": 612, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 613, "end_step": 672, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 673, "end_step": 738, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into 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Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_20_45_23_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 16, "v40_language_source": "previous_published_lerobot", "episode_index": 15}
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"subtasks", "start_step": 313, "end_step": 378, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 379, "end_step": 396, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 397, "end_step": 480, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 481, "end_step": 534, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 535, "end_step": 558, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 559, "end_step": 618, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 619, "end_step": 672, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 673, "end_step": 736, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 144, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 145, "end_step": 204, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 205, "end_step": 228, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 229, "end_step": 312, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 313, "end_step": 378, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 379, "end_step": 396, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 397, "end_step": 480, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 481, "end_step": 534, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 535, "end_step": 558, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 559, "end_step": 618, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 619, "end_step": 672, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 673, "end_step": 736, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_20_45_23_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 17, "v40_language_source": "previous_published_lerobot", "episode_index": 16}
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The robot needs to collect the pens one by one and place them neatly into the pen holder.", "success_criteria": "All four pens are inside the pen holder and arranged neatly in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 114, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 115, "end_step": 162, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 163, "end_step": 186, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 187, "end_step": 270, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 271, "end_step": 324, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 325, "end_step": 336, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 337, "end_step": 396, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 397, "end_step": 450, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 451, "end_step": 468, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 469, "end_step": 534, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 535, "end_step": 588, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 589, "end_step": 656, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 114, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 115, "end_step": 162, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 163, "end_step": 186, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 187, "end_step": 270, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 271, "end_step": 324, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 325, "end_step": 336, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 337, "end_step": 396, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 397, "end_step": 450, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 451, "end_step": 468, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 469, "end_step": 534, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 535, "end_step": 588, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 589, "end_step": 656, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into 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Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_20_45_23_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 18, "v40_language_source": "previous_published_lerobot", "episode_index": 17}
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The robot needs to collect the pens one by one and place them neatly into the pen holder.", "success_criteria": "All four pens are inside the pen holder and arranged neatly in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 138, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 139, "end_step": 186, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 187, "end_step": 210, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 211, "end_step": 294, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 295, "end_step": 336, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 337, "end_step": 360, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 361, "end_step": 402, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 403, "end_step": 468, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 469, "end_step": 492, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 493, "end_step": 576, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 577, "end_step": 630, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 631, "end_step": 699, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 138, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 139, "end_step": 186, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 187, "end_step": 210, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 211, "end_step": 294, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 295, "end_step": 336, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 337, "end_step": 360, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 361, "end_step": 402, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 403, "end_step": 468, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 469, "end_step": 492, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 493, "end_step": 576, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 577, "end_step": 630, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 631, "end_step": 699, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into 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Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_20_45_23_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 19, "v40_language_source": "previous_published_lerobot", "episode_index": 18}
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"subtasks", "start_step": 235, "end_step": 276, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 277, "end_step": 300, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 301, "end_step": 366, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 367, "end_step": 426, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 427, "end_step": 450, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 451, "end_step": 516, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 517, "end_step": 576, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 577, "end_step": 647, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 108, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 109, "end_step": 150, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 151, "end_step": 174, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 175, "end_step": 234, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 235, "end_step": 276, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 277, "end_step": 300, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 301, "end_step": 366, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 367, "end_step": 426, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 427, "end_step": 450, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 451, "end_step": 516, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 517, "end_step": 576, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 577, "end_step": 647, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into 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Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_20_45_23_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 20, "v40_language_source": "previous_published_lerobot", "episode_index": 19}
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The robot needs to collect the pens one by one and place them neatly into the pen holder.", "success_criteria": "All four pens are inside the pen holder and arranged neatly in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 132, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 133, "end_step": 252, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 253, "end_step": 276, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 277, "end_step": 360, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 361, "end_step": 414, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 415, "end_step": 444, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 445, "end_step": 528, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 529, "end_step": 582, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 583, "end_step": 598, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 599, "end_step": 686, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 687, "end_step": 740, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 741, "end_step": 806, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 132, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 133, "end_step": 252, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 253, "end_step": 276, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 277, "end_step": 360, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 361, "end_step": 414, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 415, "end_step": 444, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 445, "end_step": 528, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 529, "end_step": 582, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 583, "end_step": 598, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 599, "end_step": 686, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 687, "end_step": 740, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 741, "end_step": 806, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into 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Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_20_45_23_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 21, "v40_language_source": "previous_published_lerobot", "episode_index": 20}
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The robot needs to collect the pens one by one and place them neatly into the pen holder.", "success_criteria": "All four pens are inside the pen holder and arranged neatly in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 114, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 115, "end_step": 162, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 163, "end_step": 186, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 187, "end_step": 294, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 295, "end_step": 354, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 355, "end_step": 378, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 379, "end_step": 480, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 481, "end_step": 540, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 541, "end_step": 576, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 577, "end_step": 654, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 655, "end_step": 714, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 715, "end_step": 778, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 114, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 115, "end_step": 162, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 163, "end_step": 186, "id": "subtask-003", "text": "Place 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"task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 541, "end_step": 576, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 577, "end_step": 654, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 655, "end_step": 714, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 715, "end_step": 778, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into 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Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_20_45_23_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 22, "v40_language_source": "previous_published_lerobot", "episode_index": 21}
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"subtasks", "start_step": 223, "end_step": 264, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 265, "end_step": 288, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 289, "end_step": 342, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 343, "end_step": 390, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 391, "end_step": 414, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 415, "end_step": 450, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 451, "end_step": 504, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 505, "end_step": 563, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 102, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 103, "end_step": 150, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 151, "end_step": 174, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 175, "end_step": 222, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 223, "end_step": 264, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 265, "end_step": 288, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 289, "end_step": 342, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 343, "end_step": 390, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 391, "end_step": 414, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 415, "end_step": 450, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 451, "end_step": 504, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 505, "end_step": 563, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_20_45_23_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 23, "v40_language_source": "previous_published_lerobot", "episode_index": 22}
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"subtasks", "start_step": 211, "end_step": 264, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 265, "end_step": 288, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 289, "end_step": 390, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 391, "end_step": 444, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 445, "end_step": 462, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 463, "end_step": 528, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 529, "end_step": 594, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 595, "end_step": 658, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 90, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 91, "end_step": 132, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 133, "end_step": 150, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 151, "end_step": 210, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 211, "end_step": 264, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 265, "end_step": 288, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 289, "end_step": 390, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 391, "end_step": 444, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 445, "end_step": 462, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 463, "end_step": 528, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 529, "end_step": 594, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 595, "end_step": 658, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into 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Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_20_45_23_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 25, "v40_language_source": "previous_published_lerobot", "episode_index": 23}
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"id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 469, "end_step": 510, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 511, "end_step": 571, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 102, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 103, "end_step": 138, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 139, "end_step": 162, "id": "subtask-003", "text": "Place 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"task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 409, "end_step": 426, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 427, "end_step": 468, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 469, "end_step": 510, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 511, "end_step": 571, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into 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Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_20_45_23_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 27, "v40_language_source": "previous_published_lerobot", "episode_index": 24}
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"subtasks", "start_step": 235, "end_step": 282, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 283, "end_step": 306, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 307, "end_step": 390, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 391, "end_step": 456, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 457, "end_step": 480, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 481, "end_step": 576, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 577, "end_step": 636, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 637, "end_step": 702, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 102, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 103, "end_step": 138, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 139, "end_step": 168, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 169, "end_step": 234, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 235, "end_step": 282, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 283, "end_step": 306, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 307, "end_step": 390, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 391, "end_step": 456, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 457, "end_step": 480, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 481, "end_step": 576, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 577, "end_step": 636, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 637, "end_step": 702, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into 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Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_20_45_23_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 28, "v40_language_source": "previous_published_lerobot", "episode_index": 25}
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"subtasks", "start_step": 229, "end_step": 288, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 289, "end_step": 312, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 313, "end_step": 564, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 565, "end_step": 642, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 643, "end_step": 672, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 673, "end_step": 750, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 751, "end_step": 816, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 817, "end_step": 887, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 96, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 97, "end_step": 150, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 151, "end_step": 174, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 175, "end_step": 228, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 229, "end_step": 288, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 289, "end_step": 312, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 313, "end_step": 564, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 565, "end_step": 642, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 643, "end_step": 672, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 673, "end_step": 750, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 751, "end_step": 816, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 817, "end_step": 887, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into 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Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_20_45_23_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 30, "v40_language_source": "previous_published_lerobot", "episode_index": 26}
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"id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 643, "end_step": 696, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 697, "end_step": 760, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 108, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 109, "end_step": 216, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 217, "end_step": 240, "id": "subtask-003", "text": "Place 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"task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 553, "end_step": 576, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 577, "end_step": 642, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 643, "end_step": 696, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 697, "end_step": 760, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into 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Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_20_45_23_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 31, "v40_language_source": "previous_published_lerobot", "episode_index": 27}
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The robot needs to collect the pens one by one and place them neatly into the pen holder.", "success_criteria": "All four pens are inside the pen holder and arranged neatly in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 204, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 205, "end_step": 276, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 277, "end_step": 294, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 295, "end_step": 348, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 349, "end_step": 396, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 397, "end_step": 420, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 421, "end_step": 678, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 679, "end_step": 744, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 745, "end_step": 768, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 769, "end_step": 1026, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1027, "end_step": 1092, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1093, "end_step": 1162, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 204, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 205, "end_step": 276, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 277, "end_step": 294, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 295, "end_step": 348, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 349, "end_step": 396, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 397, "end_step": 420, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 421, "end_step": 678, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 679, "end_step": 744, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 745, "end_step": 768, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 769, "end_step": 1026, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1027, "end_step": 1092, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1093, "end_step": 1162, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_20_45_23_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 32, "v40_language_source": "previous_published_lerobot", "episode_index": 28}
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Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder.", "scene_description": "Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder.", "success_criteria": "All four pens are inside the pen holder and arranged neatly in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 108, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 109, "end_step": 162, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 163, "end_step": 186, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 187, "end_step": 282, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 283, "end_step": 336, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 337, "end_step": 354, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 355, "end_step": 408, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 409, "end_step": 462, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 463, "end_step": 486, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 487, "end_step": 528, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 529, "end_step": 576, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 577, "end_step": 637, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 108, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 109, "end_step": 162, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 163, "end_step": 186, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 187, "end_step": 282, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 283, "end_step": 336, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 337, "end_step": 354, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 355, "end_step": 408, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 409, "end_step": 462, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 463, "end_step": 486, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 487, "end_step": 528, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 529, "end_step": 576, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 577, "end_step": 637, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_20_45_23_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 33, "v40_language_source": "previous_published_lerobot", "episode_index": 29}
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Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder.", "scene_description": "Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder.", "success_criteria": "All four pens are inside the pen holder and arranged neatly in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 108, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 109, "end_step": 180, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 181, "end_step": 204, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 205, "end_step": 270, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 271, "end_step": 324, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 325, "end_step": 354, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 355, "end_step": 414, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 415, "end_step": 480, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 481, "end_step": 504, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 505, "end_step": 546, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 547, "end_step": 606, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 607, "end_step": 681, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 108, "id": "subtask-001", "text": "Pick up the first pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 109, "end_step": 180, "id": "subtask-002", "text": "Move the first pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 181, "end_step": 204, "id": "subtask-003", "text": "Place the first pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 205, "end_step": 270, "id": "subtask-004", "text": "Pick up the second pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 271, "end_step": 324, "id": "subtask-005", "text": "Move the second pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 325, "end_step": 354, "id": "subtask-006", "text": "Place the second pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 355, "end_step": 414, "id": "subtask-007", "text": "Pick up the third pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 415, "end_step": 480, "id": "subtask-008", "text": "Move the third pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 481, "end_step": 504, "id": "subtask-009", "text": "Place the third pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 505, "end_step": 546, "id": "subtask-010", "text": "Pick up the fourth pen from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 547, "end_step": 606, "id": "subtask-011", "text": "Move the fourth pen above the pen holder. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 607, "end_step": 681, "id": "subtask-012", "text": "Place the fourth pen into the pen holder. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into 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Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/place_pens_in_holder/season_POC22018_2026_03_17_20_45_23_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 34, "v40_language_source": "previous_published_lerobot", "episode_index": 30}
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+    "total_frames": 24813,
+    "total_tasks": 1,
+    "chunks_size": 1000,
+    "data_files_size_in_mb": 100,
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+        "train": "0:31"
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+    "features": {
+        "observation.state": {
+            "dtype": "float32",
+            "shape": [
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+                "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/place_pens_in_holder/season_POC22018_2026_03_17_20_45_23_train/lerobot_v3.0/meta/modality.json b/place_pens_in_holder/season_POC22018_2026_03_17_20_45_23_train/lerobot_v3.0/meta/modality.json
new file mode 100644
index 0000000000000000000000000000000000000000..a05578e69b2f67b344bf8b72976a7471c3174013
--- /dev/null
+++ b/place_pens_in_holder/season_POC22018_2026_03_17_20_45_23_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/place_pens_in_holder/season_POC22018_2026_03_17_20_45_23_train/lerobot_v3.0/meta/stats.json b/place_pens_in_holder/season_POC22018_2026_03_17_20_45_23_train/lerobot_v3.0/meta/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..21adcad2f9351b31cc266ab176ebfd79024fd085
--- /dev/null
+++ b/place_pens_in_holder/season_POC22018_2026_03_17_20_45_23_train/lerobot_v3.0/meta/stats.json
@@ -0,0 +1,4030 @@
+{
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"Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green square block from the table and transports it towards the test tube rack."}, {"label": "subtasks", "start_step": 2445, "end_step": 2534, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green square block with the rightmost test tube to attempt fitting it onto the tube."}, {"label": "subtasks", "start_step": 2535, "end_step": 2549, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green square block, which falls onto the right side of the table."}, {"label": "subtasks", "start_step": 2550, "end_step": 2669, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats from the test tube rack towards the right side of the table."}, {"label": "subtasks", "start_step": 2670, "end_step": 2684, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach_grasp: Right hand reaches for the green square block on the right table and grasps it."}, {"label": "subtasks", "start_step": 2685, "end_step": 2789, "id": "reasoning-language-00064", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green square block to the middle-right area of the table."}, {"label": "subtasks", "start_step": 2790, "end_step": 3164, "id": "reasoning-language-00065", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_reorient: Right hand places the green square block on the table and rotates it to adjust its orientation."}, {"label": "subtasks", "start_step": 3165, "end_step": 3217, "id": "reasoning-language-00066", "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 green square block from the table and transports it towards the test tube rack."}, {"label": "subtasks", "start_step": 3218, "end_step": 3344, "id": "reasoning-language-00067", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green square block with the rightmost test tube and fits it onto the tube."}, {"label": "home", "start_step": 3372, "end_step": 3398, "id": "Ar10AUpyOwD62hW0dvFk5"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 44, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_posture: Left hand adjusts its posture with fingers gradually extending and slight wrist rotation at the left side of the table. | Right hand: reach: Right hand moves from the right side of the table toward the green hexagonal block on the black table surface left of the wooden peg base."}, {"label": "subtasks", "start_step": 45, "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 from the right side of the table toward the green hexagonal block on the black table surface left of the wooden peg base."}, {"label": "subtasks", "start_step": 112, "end_step": 149, "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 grasps the green hexagonal block on the table, with fingers closing and adjusting to form a stable grip."}, {"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 table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the black table surface without moving."}, {"label": "subtasks", "start_step": 165, "end_step": 194, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, adjusting its fingers to form a stable grip."}, {"label": "subtasks", "start_step": 195, "end_step": 217, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table and moves it to the top of the vertical peg on the wooden rack."}, {"label": "subtasks", "start_step": 218, "end_step": 269, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the vertical peg of the wooden rack, lowering the block to fit the peg through its central hole."}, {"label": "subtasks", "start_step": 270, "end_step": 329, "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 green hexagonal block on the peg of the wooden rack without moving."}, {"label": "subtasks", "start_step": 330, "end_step": 351, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white sleeve onto the green sleeve on the leftmost peg of the wooden board."}, {"label": "subtasks", "start_step": 352, "end_step": 367, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white sleeve on the peg with fingers opening."}, {"label": "subtasks", "start_step": 368, "end_step": 411, "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 reaches downward toward the white hexagonal sleeve on the black table surface."}, {"label": "subtasks", "start_step": 412, "end_step": 441, "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 grasps the white hexagonal sleeve on the table with fingers closing to form a stable grip."}, {"label": "subtasks", "start_step": 442, "end_step": 584, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reorient: Right hand rotates the white hexagonal sleeve to adjust its orientation, with the sleeve's position remaining roughly unchanged."}, {"label": "subtasks", "start_step": 585, "end_step": 607, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal nut on the black table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 608, "end_step": 651, "id": "reasoning-language-00015", "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 white hexagonal nut off the table and transports it to the position above the leftmost test tube on the wooden rack."}, {"label": "subtasks", "start_step": 652, "end_step": 749, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal nut with the top of the leftmost test tube on the wooden rack, adjusting the position to fit the nut onto the test tube."}, {"label": "subtasks", "start_step": 750, "end_step": 779, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical piece on the front-left peg of the wooden pegboard, with fingers opening."}, {"label": "subtasks", "start_step": 780, "end_step": 817, "id": "reasoning-language-00018", "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 pegboard toward the white hexagonal piece on the black table."}, {"label": "subtasks", "start_step": 818, "end_step": 914, "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 grasps the white hexagonal piece on the black table, with fingers closing around the piece."}, {"label": "subtasks", "start_step": 915, "end_step": 937, "id": "reasoning-language-00020", "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 white hexagonal block from the table and transports it towards the test tube rack."}, {"label": "subtasks", "start_step": 938, "end_step": 997, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the leftmost purple rod on the test tube rack and inserts it downwards."}, {"label": "subtasks", "start_step": 998, "end_step": 1034, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple rod without moving."}, {"label": "subtasks", "start_step": 1035, "end_step": 1064, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand fits the white cylindrical part onto the purple vertical peg on the wooden base and releases its grip."}, {"label": "subtasks", "start_step": 1065, "end_step": 1154, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach_grasp: Right hand reaches toward the white hexagonal part on the black table and makes initial contact with the part to start grasping."}, {"label": "subtasks", "start_step": 1155, "end_step": 1169, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, fingers closing to form a stable grip."}, {"label": "subtasks", "start_step": 1170, "end_step": 1191, "id": "reasoning-language-00026", "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 white hexagonal block off the table surface and transports it upward to the position above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1192, "end_step": 1229, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod by aligning and lowering it into the fitted position."}, {"label": "subtasks", "start_step": 1230, "end_step": 1274, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple rod without moving."}, {"label": "subtasks", "start_step": 1275, "end_step": 1297, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white ring onto the purple peg on the wooden base and releases the ring."}, {"label": "subtasks", "start_step": 1298, "end_step": 1311, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the green hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1312, "end_step": 1334, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table with fingers closing to adjust the grip."}, {"label": "subtasks", "start_step": 1335, "end_step": 1364, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 1365, "end_step": 1379, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block placed on the black table."}, {"label": "subtasks", "start_step": 1380, "end_step": 1401, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts and transports the green hexagonal block from the black table toward the purple vertical peg on the wooden base."}, {"label": "subtasks", "start_step": 1402, "end_step": 1447, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the purple vertical peg of the wooden base."}, {"label": "subtasks", "start_step": 1448, "end_step": 1499, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the purple peg without moving."}, {"label": "subtasks", "start_step": 1500, "end_step": 1521, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white cylindrical block onto the green block on the middle peg of the pegboard and releases it."}, {"label": "subtasks", "start_step": 1522, "end_step": 1537, "id": "reasoning-language-00038", "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 white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1538, "end_step": 1604, "id": "reasoning-language-00039", "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 grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1605, "end_step": 1627, "id": "reasoning-language-00040", "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 white hexagonal part off the green base and transports it toward the wooden peg rack at the center of the table."}, {"label": "subtasks", "start_step": 1628, "end_step": 1664, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal part with the white peg on the wooden rack and inserts it onto the peg to complete assembly."}, {"label": "subtasks", "start_step": 1665, "end_step": 1739, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal part on the white peg of the wooden rack without moving."}, {"label": "subtasks", "start_step": 1740, "end_step": 1769, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand fits the white hexagonal sleeve onto the purple peg of the wooden base and releases the grip."}, {"label": "subtasks", "start_step": 1770, "end_step": 1791, "id": "reasoning-language-00044", "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 white hexagonal piece on the black table surface."}, {"label": "subtasks", "start_step": 1792, "end_step": 1919, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal piece on the black table surface with fingers closing around it."}, {"label": "subtasks", "start_step": 1920, "end_step": 1971, "id": "reasoning-language-00046", "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 white hexagonal block off the table and transports it toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1972, "end_step": 1994, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and fits it onto the rod."}, {"label": "subtasks", "start_step": 1995, "end_step": 2024, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white cap down onto the purple peg on the wooden board."}, {"label": "subtasks", "start_step": 2025, "end_step": 2054, "id": "reasoning-language-00049", "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 rightward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 2055, "end_step": 2107, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2108, "end_step": 2144, "id": "reasoning-language-00051", "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 white hexagonal block off the table and transports it to the upper right of the purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 2145, "end_step": 2167, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg and inserts it onto the peg to form an assembly relationship."}, {"label": "subtasks", "start_step": 2168, "end_step": 2219, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white hexagonal block down along the purple peg to press it firmly in place."}, {"label": "subtasks", "start_step": 2220, "end_step": 2264, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the purple peg without moving."}, {"label": "subtasks", "start_step": 2265, "end_step": 2301, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white cylinder with a purple top into the wooden tray on the black table."}, {"label": "subtasks", "start_step": 2302, "end_step": 2324, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the green cubic block on the right side of the black table."}, {"label": "subtasks", "start_step": 2325, "end_step": 2339, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cubic block on the right side of the black table."}, {"label": "subtasks", "start_step": 2340, "end_step": 2391, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green cubic block on the right side of the black table without moving."}, {"label": "subtasks", "start_step": 2392, "end_step": 2444, "id": "reasoning-language-00059", "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 green square block from the table and transports it towards the test tube rack."}, {"label": "subtasks", "start_step": 2445, "end_step": 2534, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green square block with the rightmost test tube to attempt fitting it onto the tube."}, {"label": "subtasks", "start_step": 2535, "end_step": 2549, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green square block, which falls onto the right side of the table."}, {"label": "subtasks", "start_step": 2550, "end_step": 2669, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats from the test tube rack towards the right side of the table."}, {"label": "subtasks", "start_step": 2670, "end_step": 2684, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach_grasp: Right hand reaches for the green square block on the right table and grasps it."}, {"label": "subtasks", "start_step": 2685, "end_step": 2789, "id": "reasoning-language-00064", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green square block to the middle-right area of the table."}, {"label": "subtasks", "start_step": 2790, "end_step": 3164, "id": "reasoning-language-00065", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_reorient: Right hand places the green square block on the table and rotates it to adjust its orientation."}, {"label": "subtasks", "start_step": 3165, "end_step": 3217, "id": "reasoning-language-00066", "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 green square block from the table and transports it towards the test tube rack."}, {"label": "subtasks", "start_step": 3218, "end_step": 3344, "id": "reasoning-language-00067", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green square block with the rightmost test tube and fits it onto the tube."}], "episode_index": 0}
+{"source_uid": "b2a6edef5bcefc1b", "num_frames": 2339, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 21, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_finger: Left hand slightly bends its fingers to adjust posture at the left side of the table. | Right hand: reach: Right hand moves from the right side of the table towards the green block located at the lower left of the wooden base."}, {"label": "goal", "start_step": 0, "end_step": 138, "id": "ae14e2db-682a-4c95-a57f-94117b13f791"}, {"label": "valid", "start_step": 0, "end_step": 2309, "id": "ncQo1MFoCTl72_WGW8eJC"}, {"label": "subtasks", "start_step": 22, "end_step": 59, "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 from the right side of the table towards the green block located at the lower left of the wooden base."}, {"label": "subtasks", "start_step": 60, "end_step": 97, "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 to grasp the green block on the black table."}, {"label": "subtasks", "start_step": 98, "end_step": 134, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green block without moving after establishing stable grasp."}, {"label": "subtasks", "start_step": 135, "end_step": 164, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green cubic block from the black table surface."}, {"label": "goal", "start_step": 139, "end_step": 261, "id": "1101ad0b-d311-4ceb-8c68-e205559cdd83"}, {"label": "subtasks", "start_step": 165, "end_step": 201, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green cubic block to the position above the leftmost purple rod on the wooden base."}, {"label": "subtasks", "start_step": 202, "end_step": 254, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green cubic block onto the leftmost purple rod of the wooden base."}, {"label": "subtasks", "start_step": 255, "end_step": 284, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white ring onto the purple peg on the wooden base and releases the ring."}, {"label": "goal", "start_step": 262, "end_step": 352, "id": "517e5683-fe13-467c-be58-efdd5eeb5d1f"}, {"label": "subtasks", "start_step": 285, "end_step": 307, "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 downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 308, "end_step": 329, "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 white hexagonal block on the table with fingers closing around the block."}, {"label": "subtasks", "start_step": 330, "end_step": 344, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block without moving."}, {"label": "subtasks", "start_step": 345, "end_step": 367, "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 grasps the white hexagonal block placed on the black table."}, {"label": "goal", "start_step": 353, "end_step": 569, "id": "82362305-9096-4268-8710-e04306eb39af"}, {"label": "subtasks", "start_step": 368, "end_step": 389, "id": "reasoning-language-00013", "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 white hexagonal block from the table and transports it to above the leftmost purple rod of the rack."}, {"label": "subtasks", "start_step": 390, "end_step": 427, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the leftmost purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 428, "end_step": 569, "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 white hexagonal block downwards along the purple rod to secure it in place."}, {"label": "subtasks", "start_step": 570, "end_step": 591, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white block onto the purple peg of the wooden base to secure it."}, {"label": "goal", "start_step": 570, "end_step": 674, "id": "c5bacf19-1a67-44e2-a76d-6c2441558946"}, {"label": "subtasks", "start_step": 592, "end_step": 621, "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 downwards towards the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 622, "end_step": 674, "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 its fingers around the white hexagonal block on the table to establish a stable grip."}, {"label": "subtasks", "start_step": 675, "end_step": 697, "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 grasps the white hexagonal block on the black tabletop."}, {"label": "goal", "start_step": 675, "end_step": 840, "id": "53320651-61eb-4af4-94d8-454f8dd093c2"}, {"label": "subtasks", "start_step": 698, "end_step": 719, "id": "reasoning-language-00020", "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 white hexagonal block from the tabletop and transports it above the leftmost purple peg of the wooden rack."}, {"label": "subtasks", "start_step": 720, "end_step": 817, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the leftmost purple peg of the wooden rack by aligning and lowering it."}, {"label": "subtasks", "start_step": 818, "end_step": 839, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the leftmost purple peg without moving."}, {"label": "subtasks", "start_step": 840, "end_step": 869, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical block on the purple rod of the wooden base and moves away."}, {"label": "goal", "start_step": 841, "end_step": 906, "id": "a1169ea2-b6df-4b25-be85-471fe8dd1945"}, {"label": "subtasks", "start_step": 870, "end_step": 891, "id": "reasoning-language-00024", "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 white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 892, "end_step": 914, "id": "reasoning-language-00025", "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 grasp the white hexagonal block on the black table surface."}, {"label": "goal", "start_step": 907, "end_step": 1108, "id": "eb3a6830-71b1-459b-bd84-12c434b9ba81"}, {"label": "subtasks", "start_step": 915, "end_step": 929, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block upward off the black table surface."}, {"label": "subtasks", "start_step": 930, "end_step": 951, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand carries the white hexagonal block upward toward the wooden base with purple rods."}, {"label": "subtasks", "start_step": 952, "end_step": 989, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand lowers the white hexagonal block onto the empty purple rod of the wooden base."}, {"label": "subtasks", "start_step": 990, "end_step": 1094, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white hexagonal block downward to secure it onto the purple rod."}, {"label": "subtasks", "start_step": 1095, "end_step": 1131, "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 white cylindrical block onto the purple rod on the wooden base."}, {"label": "goal", "start_step": 1109, "end_step": 1286, "id": "920403af-ba83-450e-b847-8f2d72978182"}, {"label": "subtasks", "start_step": 1132, "end_step": 1161, "id": "reasoning-language-00031", "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 green hollow block on the black table."}, {"label": "subtasks", "start_step": 1162, "end_step": 1251, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp_release: Right hand grasps the green hollow block on the table and then releases it."}, {"label": "subtasks", "start_step": 1252, "end_step": 1274, "id": "reasoning-language-00033", "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 green hollow block without moving."}, {"label": "subtasks", "start_step": 1275, "end_step": 1304, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to form a stable grip on the green block placed on the black table."}, {"label": "goal", "start_step": 1287, "end_step": 1412, "id": "55b7c4a7-eb3e-4431-a060-95099ec98765"}, {"label": "subtasks", "start_step": 1305, "end_step": 1327, "id": "reasoning-language-00035", "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 green block off the table and transports it towards the target peg on the wooden base."}, {"label": "subtasks", "start_step": 1328, "end_step": 1394, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the target peg and inserts it down onto the peg."}, {"label": "subtasks", "start_step": 1395, "end_step": 1409, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand opens fingers to release the green block that is fitted on the peg."}, {"label": "subtasks", "start_step": 1410, "end_step": 1439, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white hexagonal block onto the purple peg of the wooden base and releases the grip on the block."}, {"label": "goal", "start_step": 1413, "end_step": 1493, "id": "661e30f8-976e-4ae2-b964-45a35d9ccd53"}, {"label": "subtasks", "start_step": 1440, "end_step": 1454, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand moves downward away from the assembly area toward the white hexagonal blocks on the table."}, {"label": "subtasks", "start_step": 1455, "end_step": 1484, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: idle: Right hand remains empty above the table surface without moving."}, {"label": "subtasks", "start_step": 1485, "end_step": 1514, "id": "reasoning-language-00041", "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 white hexagonal part on the black table stably."}, {"label": "goal", "start_step": 1494, "end_step": 1632, "id": "1cf25fcf-691c-4c39-9404-4c79adc4c1e4"}, {"label": "subtasks", "start_step": 1515, "end_step": 1537, "id": "reasoning-language-00042", "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 white hexagonal part and transports it towards the purple rod on the wooden bracket."}, {"label": "subtasks", "start_step": 1538, "end_step": 1619, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal part onto the purple rod of the wooden bracket, adjusting position to fit."}, {"label": "subtasks", "start_step": 1620, "end_step": 1657, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white ring onto the purple rod on the wooden base and releases the ring."}, {"label": "goal", "start_step": 1633, "end_step": 1710, "id": "09955c84-2cff-4106-aee9-f7026e40817a"}, {"label": "subtasks", "start_step": 1658, "end_step": 1694, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the upper white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 1695, "end_step": 1731, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the upper white hexagonal block on the black table."}, {"label": "goal", "start_step": 1711, "end_step": 1818, "id": "9ba8d6c3-6e1e-4725-9faf-569f24be2e12"}, {"label": "subtasks", "start_step": 1732, "end_step": 1777, "id": "reasoning-language-00047", "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 white hexagonal block from the table and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1778, "end_step": 1814, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1815, "end_step": 1844, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white cylinder onto the purple rod on the wooden base."}, {"label": "goal", "start_step": 1819, "end_step": 1894, "id": "a8291a8a-ed8c-47d7-8de5-911d841df2e4"}, {"label": "subtasks", "start_step": 1845, "end_step": 1867, "id": "reasoning-language-00050", "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 white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1868, "end_step": 1919, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table surface, fingers close around the block."}, {"label": "goal", "start_step": 1895, "end_step": 2039, "id": "d3e1473b-457a-4fcb-94fb-1c8fef8457a1"}, {"label": "subtasks", "start_step": 1920, "end_step": 1949, "id": "reasoning-language-00052", "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 white hollow block from the tabletop and transports it above the purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 1950, "end_step": 1979, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hollow block onto the purple peg of the wooden rack."}, {"label": "subtasks", "start_step": 1980, "end_step": 2039, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hollow block on the purple peg without moving."}, {"label": "subtasks", "start_step": 2040, "end_step": 2061, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the purple rod on the white cylinder at the front right of the wooden base."}, {"label": "goal", "start_step": 2040, "end_step": 2119, "id": "c4a67dae-f9de-4754-b1a2-b3d7a2c47ee8"}, {"label": "subtasks", "start_step": 2062, "end_step": 2091, "id": "reasoning-language-00056", "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 square block on the black table surface."}, {"label": "subtasks", "start_step": 2092, "end_step": 2137, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green square block on the black table surface."}, {"label": "goal", "start_step": 2120, "end_step": 2266, "id": "ce2ae5d7-13ab-4eb2-a28c-4436b147b7da"}, {"label": "subtasks", "start_step": 2138, "end_step": 2174, "id": "reasoning-language-00058", "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 green block off the table and transports it towards the white bottle on the right side of the wooden rack."}, {"label": "subtasks", "start_step": 2175, "end_step": 2279, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the white bottle and inserts it onto the bottle to complete assembly."}, {"label": "home", "start_step": 2310, "end_step": 2338, "id": "qP-QkPY4ibylpRFbWHxRR"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 21, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_finger: Left hand slightly bends its fingers to adjust posture at the left side of the table. | Right hand: reach: Right hand moves from the right side of the table towards the green block located at the lower left of the wooden base."}, {"label": "subtasks", "start_step": 22, "end_step": 59, "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 from the right side of the table towards the green block located at the lower left of the wooden base."}, {"label": "subtasks", "start_step": 60, "end_step": 97, "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 to grasp the green block on the black table."}, {"label": "subtasks", "start_step": 98, "end_step": 134, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green block without moving after establishing stable grasp."}, {"label": "subtasks", "start_step": 135, "end_step": 164, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green cubic block from the black table surface."}, {"label": "subtasks", "start_step": 165, "end_step": 201, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green cubic block to the position above the leftmost purple rod on the wooden base."}, {"label": "subtasks", "start_step": 202, "end_step": 254, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green cubic block onto the leftmost purple rod of the wooden base."}, {"label": "subtasks", "start_step": 255, "end_step": 284, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white ring onto the purple peg on the wooden base and releases the ring."}, {"label": "subtasks", "start_step": 285, "end_step": 307, "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 downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 308, "end_step": 329, "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 white hexagonal block on the table with fingers closing around the block."}, {"label": "subtasks", "start_step": 330, "end_step": 344, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block without moving."}, {"label": "subtasks", "start_step": 345, "end_step": 367, "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 grasps the white hexagonal block placed on the black table."}, {"label": "subtasks", "start_step": 368, "end_step": 389, "id": "reasoning-language-00013", "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 white hexagonal block from the table and transports it to above the leftmost purple rod of the rack."}, {"label": "subtasks", "start_step": 390, "end_step": 427, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the leftmost purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 428, "end_step": 569, "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 white hexagonal block downwards along the purple rod to secure it in place."}, {"label": "subtasks", "start_step": 570, "end_step": 591, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white block onto the purple peg of the wooden base to secure it."}, {"label": "subtasks", "start_step": 592, "end_step": 621, "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 downwards towards the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 622, "end_step": 674, "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 its fingers around the white hexagonal block on the table to establish a stable grip."}, {"label": "subtasks", "start_step": 675, "end_step": 697, "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 grasps the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 698, "end_step": 719, "id": "reasoning-language-00020", "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 white hexagonal block from the tabletop and transports it above the leftmost purple peg of the wooden rack."}, {"label": "subtasks", "start_step": 720, "end_step": 817, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the leftmost purple peg of the wooden rack by aligning and lowering it."}, {"label": "subtasks", "start_step": 818, "end_step": 839, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the leftmost purple peg without moving."}, {"label": "subtasks", "start_step": 840, "end_step": 869, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical block on the purple rod of the wooden base and moves away."}, {"label": "subtasks", "start_step": 870, "end_step": 891, "id": "reasoning-language-00024", "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 white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 892, "end_step": 914, "id": "reasoning-language-00025", "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 grasp the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 915, "end_step": 929, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block upward off the black table surface."}, {"label": "subtasks", "start_step": 930, "end_step": 951, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand carries the white hexagonal block upward toward the wooden base with purple rods."}, {"label": "subtasks", "start_step": 952, "end_step": 989, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand lowers the white hexagonal block onto the empty purple rod of the wooden base."}, {"label": "subtasks", "start_step": 990, "end_step": 1094, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white hexagonal block downward to secure it onto the purple rod."}, {"label": "subtasks", "start_step": 1095, "end_step": 1131, "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 white cylindrical block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1132, "end_step": 1161, "id": "reasoning-language-00031", "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 green hollow block on the black table."}, {"label": "subtasks", "start_step": 1162, "end_step": 1251, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp_release: Right hand grasps the green hollow block on the table and then releases it."}, {"label": "subtasks", "start_step": 1252, "end_step": 1274, "id": "reasoning-language-00033", "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 green hollow block without moving."}, {"label": "subtasks", "start_step": 1275, "end_step": 1304, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to form a stable grip on the green block placed on the black table."}, {"label": "subtasks", "start_step": 1305, "end_step": 1327, "id": "reasoning-language-00035", "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 green block off the table and transports it towards the target peg on the wooden base."}, {"label": "subtasks", "start_step": 1328, "end_step": 1394, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the target peg and inserts it down onto the peg."}, {"label": "subtasks", "start_step": 1395, "end_step": 1409, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand opens fingers to release the green block that is fitted on the peg."}, {"label": "subtasks", "start_step": 1410, "end_step": 1439, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white hexagonal block onto the purple peg of the wooden base and releases the grip on the block."}, {"label": "subtasks", "start_step": 1440, "end_step": 1454, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand moves downward away from the assembly area toward the white hexagonal blocks on the table."}, {"label": "subtasks", "start_step": 1455, "end_step": 1484, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: idle: Right hand remains empty above the table surface without moving."}, {"label": "subtasks", "start_step": 1485, "end_step": 1514, "id": "reasoning-language-00041", "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 white hexagonal part on the black table stably."}, {"label": "subtasks", "start_step": 1515, "end_step": 1537, "id": "reasoning-language-00042", "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 white hexagonal part and transports it towards the purple rod on the wooden bracket."}, {"label": "subtasks", "start_step": 1538, "end_step": 1619, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal part onto the purple rod of the wooden bracket, adjusting position to fit."}, {"label": "subtasks", "start_step": 1620, "end_step": 1657, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white ring onto the purple rod on the wooden base and releases the ring."}, {"label": "subtasks", "start_step": 1658, "end_step": 1694, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the upper white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 1695, "end_step": 1731, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the upper white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 1732, "end_step": 1777, "id": "reasoning-language-00047", "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 white hexagonal block from the table and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1778, "end_step": 1814, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1815, "end_step": 1844, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white cylinder onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1845, "end_step": 1867, "id": "reasoning-language-00050", "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 white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1868, "end_step": 1919, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table surface, fingers close around the block."}, {"label": "subtasks", "start_step": 1920, "end_step": 1949, "id": "reasoning-language-00052", "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 white hollow block from the tabletop and transports it above the purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 1950, "end_step": 1979, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hollow block onto the purple peg of the wooden rack."}, {"label": "subtasks", "start_step": 1980, "end_step": 2039, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hollow block on the purple peg without moving."}, {"label": "subtasks", "start_step": 2040, "end_step": 2061, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the purple rod on the white cylinder at the front right of the wooden base."}, {"label": "subtasks", "start_step": 2062, "end_step": 2091, "id": "reasoning-language-00056", "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 square block on the black table surface."}, {"label": "subtasks", "start_step": 2092, "end_step": 2137, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green square block on the black table surface."}, {"label": "subtasks", "start_step": 2138, "end_step": 2174, "id": "reasoning-language-00058", "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 green block off the table and transports it towards the white bottle on the right side of the wooden rack."}, {"label": "subtasks", "start_step": 2175, "end_step": 2279, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the white bottle and inserts it onto the bottle to complete assembly."}], "episode_index": 1}
+{"source_uid": "8612c142a2f9c198", "num_frames": 2138, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 37, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: idle: Right hand remains empty at the right side of the workspace without obvious positional movement."}, {"label": "goal", "start_step": 0, "end_step": 128, "id": "fd371b04-d2b4-48c5-9b32-1c5b30b2ffb7"}, {"label": "valid", "start_step": 0, "end_step": 2109, "id": "kaJbddUh6KdCqWNGzRZTT"}, {"label": "subtasks", "start_step": 38, "end_step": 81, "id": "reasoning-language-00002", "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 green hexagonal nut placed in front-left of the wooden block with an empty hand, fingers kept slightly extended."}, {"label": "subtasks", "start_step": 82, "end_step": 157, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: grasp: Right hand contacts the green hexagonal nut on the table surface, fingers gradually close and adjust contact points to establish a grasp, the nut remains supported by the table."}, {"label": "goal", "start_step": 129, "end_step": 267, "id": "6ce07864-9ea6-4cee-838d-ebc1903326b2"}, {"label": "subtasks", "start_step": 158, "end_step": 187, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block off the table and moves it upward to position it directly above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 188, "end_step": 217, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: mate: Right hand slightly adjusts the position of the green hexagonal block to align its central hole with the purple peg below."}, {"label": "subtasks", "start_step": 218, "end_step": 231, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: place: Right hand lowers the aligned green hexagonal block down along the purple peg until it rests stably on the supporting block beneath."}, {"label": "subtasks", "start_step": 232, "end_step": 254, "id": "reasoning-language-00007", "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 placed green hexagonal block on the purple peg without any observable movement or grip adjustment."}, {"label": "subtasks", "start_step": 255, "end_step": 277, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: place_release: Right hand places the white hexagonal block onto the purple peg of the wooden pegboard, releases the block to rest stably on the peg."}, {"label": "goal", "start_step": 268, "end_step": 338, "id": "8cceb5d9-8815-46eb-81f7-b18db0b9cbd9"}, {"label": "subtasks", "start_step": 278, "end_step": 299, "id": "reasoning-language-00009", "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 downward empty toward the green hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 300, "end_step": 359, "id": "reasoning-language-00010", "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 to contact and grasp the green hexagonal block on the table surface."}, {"label": "goal", "start_step": 339, "end_step": 475, "id": "dd39b76b-6d56-42d1-91a3-4ced304a42da"}, {"label": "subtasks", "start_step": 360, "end_step": 381, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the black table surface and moves it to position directly above the leftmost purple peg on the wooden assembly block."}, {"label": "subtasks", "start_step": 382, "end_step": 411, "id": "reasoning-language-00012", "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 and orientation of the white hexagonal nut to align its central hole with the leftmost purple peg."}, {"label": "subtasks", "start_step": 412, "end_step": 464, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: place: Right hand lowers the white hexagonal nut down along the purple peg until it rests stably on the green base of the wooden assembly block."}, {"label": "subtasks", "start_step": 465, "end_step": 517, "id": "reasoning-language-00014", "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 downward and forward from the pegboard area toward the white hexagonal nut placed on the table, with fingers kept open."}, {"label": "goal", "start_step": 476, "end_step": 572, "id": "31b7d70a-814b-4686-aead-18e312abb925"}, {"label": "subtasks", "start_step": 518, "end_step": 569, "id": "reasoning-language-00015", "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 and adjusts wrist posture to grasp the white hexagonal nut on the table, with the nut remaining on the table surface."}, {"label": "subtasks", "start_step": 570, "end_step": 591, "id": "reasoning-language-00016", "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 white hexagonal nut above the scattered parts on the table in a stationary position."}, {"label": "goal", "start_step": 573, "end_step": 703, "id": "5dd1af31-df20-4023-bcd2-c6b287511f18"}, {"label": "subtasks", "start_step": 592, "end_step": 621, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal nut upward and transports it to the position directly above the empty purple rod on the wooden assembly block."}, {"label": "subtasks", "start_step": 622, "end_step": 659, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the target purple rod and lowers the nut to fit it onto the rod."}, {"label": "subtasks", "start_step": 660, "end_step": 689, "id": "reasoning-language-00019", "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 white hexagonal nut fitted on the purple rod without any visible movement or grip adjustment."}, {"label": "subtasks", "start_step": 690, "end_step": 734, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: place_release: Right hand holds the white cylindrical block, moves it downward onto the matching peg on the wooden pegboard, releasing fingers to leave the block stably supported by the peg."}, {"label": "goal", "start_step": 704, "end_step": 780, "id": "7d89d576-55a4-4f43-916e-ba92444e9859"}, {"label": "subtasks", "start_step": 735, "end_step": 779, "id": "reasoning-language-00021", "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 downward empty toward the white hexagonal block placed on the dark table surface in front of the pegboard, approaching the block without establishing contact."}, {"label": "subtasks", "start_step": 780, "end_step": 801, "id": "reasoning-language-00022", "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 white hexagonal block on the table, adjusting contact points to establish a stable grasp on the block."}, {"label": "goal", "start_step": 781, "end_step": 944, "id": "6bf3d996-0e96-486c-8b9c-d6ffb4af28b6"}, {"label": "subtasks", "start_step": 802, "end_step": 831, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and transports it upward to position directly above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 832, "end_step": 937, "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: mate: Right hand aligns the central hole of the white hexagonal nut with the purple rod, lowers the nut onto the rod and makes slight adjustments to fit it properly onto the rod."}, {"label": "subtasks", "start_step": 938, "end_step": 944, "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: release: Right hand opens fingers to release the white hexagonal nut that is fitted on the purple rod."}, {"label": "subtasks", "start_step": 945, "end_step": 981, "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: reach: Right hand moves downward from above the block rack toward the green hexagonal block on the table surface."}, {"label": "goal", "start_step": 945, "end_step": 1008, "id": "36727718-5878-47b0-b6b3-d2e86989cc70"}, {"label": "subtasks", "start_step": 982, "end_step": 1027, "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: grasp: Right hand closes fingers around the green hexagonal block on the table, adjusting finger positions to form a stable grasp."}, {"label": "goal", "start_step": 1009, "end_step": 1141, "id": "2726d00c-34ef-46db-a9c9-3282569891a6"}, {"label": "subtasks", "start_step": 1028, "end_step": 1057, "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: lift_transport: Right hand lifts the green hexagonal block off the table surface and moves it upward to the position above the purple peg on the block rack."}, {"label": "subtasks", "start_step": 1058, "end_step": 1139, "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: mate: Right hand aligns the green hexagonal block with the purple peg on the rack and moves it downward to fit the block onto the peg."}, {"label": "subtasks", "start_step": 1140, "end_step": 1184, "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: reach: Right hand moves downward toward the white hexagonal nut placed on the black table surface, with fingers slightly open."}, {"label": "goal", "start_step": 1142, "end_step": 1202, "id": "2b6aef79-1544-4d97-b988-baef97537682"}, {"label": "subtasks", "start_step": 1185, "end_step": 1221, "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: grasp: Right hand closes fingers around the white hexagonal nut on the table to establish a stable grasp, with the nut remaining on the table surface."}, {"label": "goal", "start_step": 1203, "end_step": 1342, "id": "2f4b624c-47b9-4b18-af45-f1bb372f0f5c"}, {"label": "subtasks", "start_step": 1222, "end_step": 1251, "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: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward to the position above the purple rod on the wooden block base."}, {"label": "subtasks", "start_step": 1252, "end_step": 1334, "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: mate: Right hand aligns the hole of the white hexagonal nut with the purple rod, lowers the nut to fit onto the rod with small position adjustments."}, {"label": "subtasks", "start_step": 1335, "end_step": 1387, "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: reach: Right hand moves from the area above the wooden block assembly stand toward the nearer white hexagonal nut on the table, with fingers held slightly open."}, {"label": "goal", "start_step": 1343, "end_step": 1412, "id": "3f4a2149-cd4e-44bb-a4cc-f4fde8e5a39d"}, {"label": "subtasks", "start_step": 1388, "end_step": 1409, "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: grasp: Right hand closes fingers around the nearer white hexagonal nut on the table to establish a grip, with the nut remaining on the table surface."}, {"label": "subtasks", "start_step": 1410, "end_step": 1454, "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: Right hand holds the white hexagonal block and moves upward and leftward to the position directly above the empty vertical rod on the wooden base."}, {"label": "goal", "start_step": 1413, "end_step": 1611, "id": "8bedf596-1c44-42e8-9686-a50c6f3d5bc6"}, {"label": "subtasks", "start_step": 1455, "end_step": 1491, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the target vertical rod and inserts the block onto the rod."}, {"label": "subtasks", "start_step": 1492, "end_step": 1567, "id": "reasoning-language-00038", "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 white hexagonal block on the vertical rod without any observable movement of the hand or block."}, {"label": "subtasks", "start_step": 1568, "end_step": 1604, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: place_release: Right hand moves the white hexagonal block downward along the rod until it rests on the supporting surface below, opening fingers to release the block."}, {"label": "subtasks", "start_step": 1605, "end_step": 1641, "id": "reasoning-language-00040", "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 downward empty toward the white hexagonal nut placed on the dark gray table surface."}, {"label": "goal", "start_step": 1612, "end_step": 1708, "id": "94b22948-214c-4681-9466-bf34dcb5cd34"}, {"label": "subtasks", "start_step": 1642, "end_step": 1664, "id": "reasoning-language-00041", "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 its fingers around the white hexagonal nut to form a stable grip on the object."}, {"label": "subtasks", "start_step": 1665, "end_step": 1731, "id": "reasoning-language-00042", "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 grasped white hexagonal nut on the table surface without any observable movement of the hand or the nut."}, {"label": "goal", "start_step": 1709, "end_step": 1865, "id": "004ca76b-987e-4835-ae5e-209aa16f4098"}, {"label": "subtasks", "start_step": 1732, "end_step": 1761, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface, moves it upward and leftward to the position directly above the purple rod mounted on the wooden block stand."}, {"label": "subtasks", "start_step": 1762, "end_step": 1859, "id": "reasoning-language-00044", "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 posture of the white hexagonal block to align its central hole with the purple rod, lowers the block to fit it onto the rod until the block is stably supported on the rod."}, {"label": "subtasks", "start_step": 1860, "end_step": 1904, "id": "reasoning-language-00045", "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 in a downward-right direction toward the green square block on the table surface."}, {"label": "goal", "start_step": 1866, "end_step": 1939, "id": "26a4b31c-2d61-4961-ae7d-7ced59daa330"}, {"label": "subtasks", "start_step": 1905, "end_step": 1934, "id": "reasoning-language-00046", "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 green square block, adjusting finger contact positions to establish a grip."}, {"label": "subtasks", "start_step": 1935, "end_step": 1949, "id": "reasoning-language-00047", "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 green hollow block stationary on the black table surface."}, {"label": "goal", "start_step": 1940, "end_step": 2073, "id": "d85871e0-ceb8-40b6-9da2-4abadfac4a7f"}, {"label": "subtasks", "start_step": 1950, "end_step": 1987, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: lift_transport: Right hand lifts the green hollow block off the table surface and transports it upward and leftward to the position directly above the purple post on the wooden block rack."}, {"label": "subtasks", "start_step": 1988, "end_step": 2084, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: mate_release: Right hand aligns the green hollow block with the purple post on the wooden rack, lowers the block to nest it onto the post, and opens its fingers to release the secured block."}, {"label": "home", "start_step": 2110, "end_step": 2137, "id": "3LIqxdCiRDdtPA7Fh0DGA"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 37, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: idle: Right hand remains empty at the right side of the workspace without obvious positional movement."}, {"label": "subtasks", "start_step": 38, "end_step": 81, "id": "reasoning-language-00002", "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 green hexagonal nut placed in front-left of the wooden block with an empty hand, fingers kept slightly extended."}, {"label": "subtasks", "start_step": 82, "end_step": 157, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: grasp: Right hand contacts the green hexagonal nut on the table surface, fingers gradually close and adjust contact points to establish a grasp, the nut remains supported by the table."}, {"label": "subtasks", "start_step": 158, "end_step": 187, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block off the table and moves it upward to position it directly above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 188, "end_step": 217, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: mate: Right hand slightly adjusts the position of the green hexagonal block to align its central hole with the purple peg below."}, {"label": "subtasks", "start_step": 218, "end_step": 231, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: place: Right hand lowers the aligned green hexagonal block down along the purple peg until it rests stably on the supporting block beneath."}, {"label": "subtasks", "start_step": 232, "end_step": 254, "id": "reasoning-language-00007", "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 placed green hexagonal block on the purple peg without any observable movement or grip adjustment."}, {"label": "subtasks", "start_step": 255, "end_step": 277, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: place_release: Right hand places the white hexagonal block onto the purple peg of the wooden pegboard, releases the block to rest stably on the peg."}, {"label": "subtasks", "start_step": 278, "end_step": 299, "id": "reasoning-language-00009", "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 downward empty toward the green hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 300, "end_step": 359, "id": "reasoning-language-00010", "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 to contact and grasp the green hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 360, "end_step": 381, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the black table surface and moves it to position directly above the leftmost purple peg on the wooden assembly block."}, {"label": "subtasks", "start_step": 382, "end_step": 411, "id": "reasoning-language-00012", "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 and orientation of the white hexagonal nut to align its central hole with the leftmost purple peg."}, {"label": "subtasks", "start_step": 412, "end_step": 464, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: place: Right hand lowers the white hexagonal nut down along the purple peg until it rests stably on the green base of the wooden assembly block."}, {"label": "subtasks", "start_step": 465, "end_step": 517, "id": "reasoning-language-00014", "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 downward and forward from the pegboard area toward the white hexagonal nut placed on the table, with fingers kept open."}, {"label": "subtasks", "start_step": 518, "end_step": 569, "id": "reasoning-language-00015", "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 and adjusts wrist posture to grasp the white hexagonal nut on the table, with the nut remaining on the table surface."}, {"label": "subtasks", "start_step": 570, "end_step": 591, "id": "reasoning-language-00016", "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 white hexagonal nut above the scattered parts on the table in a stationary position."}, {"label": "subtasks", "start_step": 592, "end_step": 621, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal nut upward and transports it to the position directly above the empty purple rod on the wooden assembly block."}, {"label": "subtasks", "start_step": 622, "end_step": 659, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the target purple rod and lowers the nut to fit it onto the rod."}, {"label": "subtasks", "start_step": 660, "end_step": 689, "id": "reasoning-language-00019", "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 white hexagonal nut fitted on the purple rod without any visible movement or grip adjustment."}, {"label": "subtasks", "start_step": 690, "end_step": 734, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: place_release: Right hand holds the white cylindrical block, moves it downward onto the matching peg on the wooden pegboard, releasing fingers to leave the block stably supported by the peg."}, {"label": "subtasks", "start_step": 735, "end_step": 779, "id": "reasoning-language-00021", "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 downward empty toward the white hexagonal block placed on the dark table surface in front of the pegboard, approaching the block without establishing contact."}, {"label": "subtasks", "start_step": 780, "end_step": 801, "id": "reasoning-language-00022", "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 white hexagonal block on the table, adjusting contact points to establish a stable grasp on the block."}, {"label": "subtasks", "start_step": 802, "end_step": 831, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and transports it upward to position directly above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 832, "end_step": 937, "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: mate: Right hand aligns the central hole of the white hexagonal nut with the purple rod, lowers the nut onto the rod and makes slight adjustments to fit it properly onto the rod."}, {"label": "subtasks", "start_step": 938, "end_step": 944, "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: release: Right hand opens fingers to release the white hexagonal nut that is fitted on the purple rod."}, {"label": "subtasks", "start_step": 945, "end_step": 981, "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: reach: Right hand moves downward from above the block rack toward the green hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 982, "end_step": 1027, "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: grasp: Right hand closes fingers around the green hexagonal block on the table, adjusting finger positions to form a stable grasp."}, {"label": "subtasks", "start_step": 1028, "end_step": 1057, "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: lift_transport: Right hand lifts the green hexagonal block off the table surface and moves it upward to the position above the purple peg on the block rack."}, {"label": "subtasks", "start_step": 1058, "end_step": 1139, "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: mate: Right hand aligns the green hexagonal block with the purple peg on the rack and moves it downward to fit the block onto the peg."}, {"label": "subtasks", "start_step": 1140, "end_step": 1184, "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: reach: Right hand moves downward toward the white hexagonal nut placed on the black table surface, with fingers slightly open."}, {"label": "subtasks", "start_step": 1185, "end_step": 1221, "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: grasp: Right hand closes fingers around the white hexagonal nut on the table to establish a stable grasp, with the nut remaining on the table surface."}, {"label": "subtasks", "start_step": 1222, "end_step": 1251, "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: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward to the position above the purple rod on the wooden block base."}, {"label": "subtasks", "start_step": 1252, "end_step": 1334, "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: mate: Right hand aligns the hole of the white hexagonal nut with the purple rod, lowers the nut to fit onto the rod with small position adjustments."}, {"label": "subtasks", "start_step": 1335, "end_step": 1387, "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: reach: Right hand moves from the area above the wooden block assembly stand toward the nearer white hexagonal nut on the table, with fingers held slightly open."}, {"label": "subtasks", "start_step": 1388, "end_step": 1409, "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: grasp: Right hand closes fingers around the nearer white hexagonal nut on the table to establish a grip, with the nut remaining on the table surface."}, {"label": "subtasks", "start_step": 1410, "end_step": 1454, "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: Right hand holds the white hexagonal block and moves upward and leftward to the position directly above the empty vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 1455, "end_step": 1491, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the target vertical rod and inserts the block onto the rod."}, {"label": "subtasks", "start_step": 1492, "end_step": 1567, "id": "reasoning-language-00038", "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 white hexagonal block on the vertical rod without any observable movement of the hand or block."}, {"label": "subtasks", "start_step": 1568, "end_step": 1604, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: place_release: Right hand moves the white hexagonal block downward along the rod until it rests on the supporting surface below, opening fingers to release the block."}, {"label": "subtasks", "start_step": 1605, "end_step": 1641, "id": "reasoning-language-00040", "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 downward empty toward the white hexagonal nut placed on the dark gray table surface."}, {"label": "subtasks", "start_step": 1642, "end_step": 1664, "id": "reasoning-language-00041", "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 its fingers around the white hexagonal nut to form a stable grip on the object."}, {"label": "subtasks", "start_step": 1665, "end_step": 1731, "id": "reasoning-language-00042", "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 grasped white hexagonal nut on the table surface without any observable movement of the hand or the nut."}, {"label": "subtasks", "start_step": 1732, "end_step": 1761, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface, moves it upward and leftward to the position directly above the purple rod mounted on the wooden block stand."}, {"label": "subtasks", "start_step": 1762, "end_step": 1859, "id": "reasoning-language-00044", "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 posture of the white hexagonal block to align its central hole with the purple rod, lowers the block to fit it onto the rod until the block is stably supported on the rod."}, {"label": "subtasks", "start_step": 1860, "end_step": 1904, "id": "reasoning-language-00045", "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 in a downward-right direction toward the green square block on the table surface."}, {"label": "subtasks", "start_step": 1905, "end_step": 1934, "id": "reasoning-language-00046", "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 green square block, adjusting finger contact positions to establish a grip."}, {"label": "subtasks", "start_step": 1935, "end_step": 1949, "id": "reasoning-language-00047", "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 green hollow block stationary on the black table surface."}, {"label": "subtasks", "start_step": 1950, "end_step": 1987, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: lift_transport: Right hand lifts the green hollow block off the table surface and transports it upward and leftward to the position directly above the purple post on the wooden block rack."}, {"label": "subtasks", "start_step": 1988, "end_step": 2084, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: mate_release: Right hand aligns the green hollow block with the purple post on the wooden rack, lowers the block to nest it onto the post, and opens its fingers to release the secured block."}], "episode_index": 2}
+{"source_uid": "67a98797019512bd", "num_frames": 2927, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_finger_posture: Left hand adjusts its finger posture with fingers closing slightly at the left side of the table. | Right hand: reach: Right hand moves leftward and downward toward the green hexagonal block on the table below the wooden rack."}, {"label": "goal", "start_step": 0, "end_step": 129, "id": "5bc7a549-6f17-4521-a95d-6f045a6a11d0"}, {"label": "valid", "start_step": 0, "end_step": 2894, "id": "p8blLRyxS6PzbRkgUN7WH"}, {"label": "subtasks", "start_step": 30, "end_step": 81, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: reach: Right hand moves leftward and downward toward the green hexagonal block on the table below the wooden rack."}, {"label": "subtasks", "start_step": 82, "end_step": 104, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: grasp: Right hand closes its fingers to grasp the green hexagonal block on the table."}, {"label": "subtasks", "start_step": 105, "end_step": 119, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: hold: Right hand holds the green hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 120, "end_step": 141, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table surface, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 130, "end_step": 382, "id": "dea483fd-6502-459b-b426-f9cdbc9676a5"}, {"label": "subtasks", "start_step": 142, "end_step": 157, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: lift: Right hand lifts the green hexagonal block upward until it fully leaves the black table surface."}, {"label": "subtasks", "start_step": 158, "end_step": 171, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: transport: Right hand transports the green hexagonal block upward and rightward to the position above the leftmost peg of the peg board."}, {"label": "subtasks", "start_step": 172, "end_step": 217, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: mate: Right hand aligns the green hexagonal block with the leftmost peg and inserts it downward onto the peg."}, {"label": "subtasks", "start_step": 218, "end_step": 374, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: hold: Right hand holds the green hexagonal block fitted on the leftmost peg of the peg board without moving."}, {"label": "subtasks", "start_step": 375, "end_step": 397, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: mate_release: Right hand fits the white ring-shaped part onto the leftmost purple peg of the wooden base and releases its grip."}, {"label": "goal", "start_step": 383, "end_step": 452, "id": "928c066f-17fe-4f1a-8ad7-11150776329a"}, {"label": "subtasks", "start_step": 398, "end_step": 427, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: reach: Right hand moves downward from the wooden base area toward the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 428, "end_step": 509, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the black table."}, {"label": "goal", "start_step": 453, "end_step": 779, "id": "4365bde2-ce45-4976-a702-67a8058289eb"}, {"label": "subtasks", "start_step": 510, "end_step": 539, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: lift: Right hand lifts the white hexagonal nut upward away from the black table surface."}, {"label": "subtasks", "start_step": 540, "end_step": 599, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: transport: Right hand transports the white hexagonal nut rightward and upward to the position above the leftmost purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 600, "end_step": 667, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: mate: Right hand aligns the white hexagonal nut with the leftmost purple rod and fits it down onto the rod."}, {"label": "subtasks", "start_step": 668, "end_step": 779, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: hold: Right hand holds the white hexagonal nut on the leftmost purple rod without moving."}, {"label": "subtasks", "start_step": 780, "end_step": 801, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: place: Right hand places the white hexagonal block onto the front-left purple peg of the wooden base."}, {"label": "goal", "start_step": 780, "end_step": 877, "id": "e9c60a8a-20c9-44d0-91bb-1aa1f9acac8f"}, {"label": "subtasks", "start_step": 802, "end_step": 831, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: release_reach: Right hand releases the white hexagonal block on the peg and reaches toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 832, "end_step": 899, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface with fingers adjusting to stabilize the grip."}, {"label": "goal", "start_step": 878, "end_step": 1113, "id": "671b674a-3756-459f-8e6d-55c2fe0d0158"}, {"label": "subtasks", "start_step": 900, "end_step": 921, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the black table and moves it above the leftmost purple peg on the wooden pegboard."}, {"label": "subtasks", "start_step": 922, "end_step": 1094, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: mate: Right hand aligns the white hexagonal block with the leftmost purple peg and inserts it downwards to fully assemble the block onto the peg."}, {"label": "subtasks", "start_step": 1095, "end_step": 1109, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: release: Right hand releases the white hexagonal block on the leftmost purple peg by opening its fingers."}, {"label": "subtasks", "start_step": 1110, "end_step": 1154, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: reach: Right hand moves downward from the pegboard area to approach the white hexagonal block on the table with empty hand."}, {"label": "goal", "start_step": 1114, "end_step": 1251, "id": "8c3983d4-8bb9-446e-9d15-bc520a30b3bb"}, {"label": "subtasks", "start_step": 1155, "end_step": 1177, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: grasp: Right hand contacts the white hexagonal block on the table and adjusts fingers to form a stable grasp."}, {"label": "subtasks", "start_step": 1178, "end_step": 1244, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it upward and backward toward the pegboard."}, {"label": "subtasks", "start_step": 1245, "end_step": 1274, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: grasp: Right hand grasps the white hexagonal hollow object on the black table, with fingers closing and adjusting to form a stable grip."}, {"label": "goal", "start_step": 1252, "end_step": 1428, "id": "53254176-bb22-4a5b-a87f-0ba67f160780"}, {"label": "subtasks", "start_step": 1275, "end_step": 1297, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal hollow object off the table and transports it upward and rightward to the position above the rightmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1298, "end_step": 1424, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: mate: Right hand mates the white hexagonal hollow object with the rightmost purple peg, aligning the object's central hole with the peg and lowering the object down along the peg."}, {"label": "subtasks", "start_step": 1425, "end_step": 1447, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: place_release: Right hand places the white ring onto the purple peg of the wooden base and releases the ring."}, {"label": "goal", "start_step": 1429, "end_step": 1510, "id": "9538f862-e891-4cf1-87c4-7f8eb95077b3"}, {"label": "subtasks", "start_step": 1448, "end_step": 1484, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the table."}, {"label": "subtasks", "start_step": 1485, "end_step": 1529, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: grasp: Right hand grasps the green hexagonal block on the table with fingers closing and adjusting."}, {"label": "goal", "start_step": 1511, "end_step": 1652, "id": "f84ccf5e-c4b6-46da-90c9-7d57be903293"}, {"label": "subtasks", "start_step": 1530, "end_step": 1559, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it toward the wooden peg rack."}, {"label": "subtasks", "start_step": 1560, "end_step": 1611, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: mate: Right hand aligns the green hexagonal block with the middle peg on the wooden rack and lowers it to fit onto the peg."}, {"label": "subtasks", "start_step": 1612, "end_step": 1634, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: release: Right hand releases the green hexagonal block on the peg, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 1635, "end_step": 1649, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: idle: Right hand remains empty above the wooden peg rack without moving."}, {"label": "subtasks", "start_step": 1650, "end_step": 1671, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: release: Right hand releases the white block on the green block of the wooden peg base."}, {"label": "goal", "start_step": 1653, "end_step": 1724, "id": "9a5d6cc0-b3c7-4018-b083-6b6cf5f3055c"}, {"label": "subtasks", "start_step": 1672, "end_step": 1694, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: reach: Right hand moves downward to reach the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1695, "end_step": 1739, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 1725, "end_step": 1897, "id": "1546345b-3e23-4405-94f1-ed6b24f1c948"}, {"label": "subtasks", "start_step": 1740, "end_step": 1754, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: lift: Right hand lifts the white hexagonal block up away from the black table surface."}, {"label": "subtasks", "start_step": 1755, "end_step": 1791, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: transport: Right hand transports the white hexagonal block upward and leftward to the area above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1792, "end_step": 1837, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg and fits it onto the peg."}, {"label": "subtasks", "start_step": 1838, "end_step": 1889, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: hold: Right hand holds the white hexagonal block on the purple peg without moving."}, {"label": "subtasks", "start_step": 1890, "end_step": 1911, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: release: Right hand releases the white cylindrical block on the purple rod of the wooden rack, with fingers opening to separate from the block."}, {"label": "goal", "start_step": 1898, "end_step": 1966, "id": "76ba4b84-dc09-4f96-b747-a95d5807adf1"}, {"label": "subtasks", "start_step": 1912, "end_step": 1957, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1958, "end_step": 1987, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface, with fingers closing around the block."}, {"label": "goal", "start_step": 1967, "end_step": 2098, "id": "b8022991-913d-4539-96a6-4c0a5ff1c92f"}, {"label": "subtasks", "start_step": 1988, "end_step": 2017, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2018, "end_step": 2039, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod of the wooden base."}, {"label": "subtasks", "start_step": 2040, "end_step": 2084, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: hold: Right hand holds the white hexagonal block on the purple rod without moving."}, {"label": "subtasks", "start_step": 2085, "end_step": 2114, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: mate_release: Right hand mates the white cylindrical block with the purple peg on the wooden rack and releases the block."}, {"label": "goal", "start_step": 2099, "end_step": 2164, "id": "b8cc2682-57ba-46d6-8ede-252beaf7b2f3"}, {"label": "subtasks", "start_step": 2115, "end_step": 2144, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 2145, "end_step": 2174, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table with fingers closing and adjusting for stable grip."}, {"label": "goal", "start_step": 2165, "end_step": 2581, "id": "69da5b90-deee-4cb7-84e6-1dc827c51d69"}, {"label": "subtasks", "start_step": 2175, "end_step": 2211, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it leftward to the position above the wooden block rack with purple pegs."}, {"label": "subtasks", "start_step": 2212, "end_step": 2579, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: mate: Right hand aligns the hole of the white hexagonal block with the purple peg on the wooden rack and slowly fits the block down onto the peg."}, {"label": "subtasks", "start_step": 2580, "end_step": 2609, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: press_release: Right hand presses down and releases the top of the rightmost front white cylinder on the wooden base."}, {"label": "goal", "start_step": 2582, "end_step": 2667, "id": "4a7fd668-a8bd-440a-b439-84b48819cba9"}, {"label": "subtasks", "start_step": 2610, "end_step": 2631, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: reach: Right hand moves downward toward the green square block on the black table surface."}, {"label": "subtasks", "start_step": 2632, "end_step": 2684, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: grasp: Right hand grasps the green square block on the black table surface with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 2668, "end_step": 2856, "id": "0977daf4-ec48-40f7-90ae-8c3bad2ec3eb"}, {"label": "subtasks", "start_step": 2685, "end_step": 2707, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: lift_transport: Right hand lifts the green square ring off the table and moves it toward the set of white bottles on the wooden base."}, {"label": "subtasks", "start_step": 2708, "end_step": 2864, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: mate_release: Right hand aligns the green square ring with the top of the front-right white bottle, fits it downward onto the bottle to complete assembly and releases the ring."}, {"label": "home", "start_step": 2895, "end_step": 2926, "id": "nUcjXNUvLBRp5ONcLvQ-0"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_finger_posture: Left hand adjusts its finger posture with fingers closing slightly at the left side of the table. | Right hand: reach: Right hand moves leftward and downward toward the green hexagonal block on the table below the wooden rack."}, {"label": "subtasks", "start_step": 30, "end_step": 81, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: reach: Right hand moves leftward and downward toward the green hexagonal block on the table below the wooden rack."}, {"label": "subtasks", "start_step": 82, "end_step": 104, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: grasp: Right hand closes its fingers to grasp the green hexagonal block on the table."}, {"label": "subtasks", "start_step": 105, "end_step": 119, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: hold: Right hand holds the green hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 120, "end_step": 141, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table surface, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 142, "end_step": 157, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: lift: Right hand lifts the green hexagonal block upward until it fully leaves the black table surface."}, {"label": "subtasks", "start_step": 158, "end_step": 171, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: transport: Right hand transports the green hexagonal block upward and rightward to the position above the leftmost peg of the peg board."}, {"label": "subtasks", "start_step": 172, "end_step": 217, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: mate: Right hand aligns the green hexagonal block with the leftmost peg and inserts it downward onto the peg."}, {"label": "subtasks", "start_step": 218, "end_step": 374, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: hold: Right hand holds the green hexagonal block fitted on the leftmost peg of the peg board without moving."}, {"label": "subtasks", "start_step": 375, "end_step": 397, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: mate_release: Right hand fits the white ring-shaped part onto the leftmost purple peg of the wooden base and releases its grip."}, {"label": "subtasks", "start_step": 398, "end_step": 427, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: reach: Right hand moves downward from the wooden base area toward the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 428, "end_step": 509, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 510, "end_step": 539, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: lift: Right hand lifts the white hexagonal nut upward away from the black table surface."}, {"label": "subtasks", "start_step": 540, "end_step": 599, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: transport: Right hand transports the white hexagonal nut rightward and upward to the position above the leftmost purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 600, "end_step": 667, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: mate: Right hand aligns the white hexagonal nut with the leftmost purple rod and fits it down onto the rod."}, {"label": "subtasks", "start_step": 668, "end_step": 779, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: hold: Right hand holds the white hexagonal nut on the leftmost purple rod without moving."}, {"label": "subtasks", "start_step": 780, "end_step": 801, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: place: Right hand places the white hexagonal block onto the front-left purple peg of the wooden base."}, {"label": "subtasks", "start_step": 802, "end_step": 831, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: release_reach: Right hand releases the white hexagonal block on the peg and reaches toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 832, "end_step": 899, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface with fingers adjusting to stabilize the grip."}, {"label": "subtasks", "start_step": 900, "end_step": 921, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the black table and moves it above the leftmost purple peg on the wooden pegboard."}, {"label": "subtasks", "start_step": 922, "end_step": 1094, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: mate: Right hand aligns the white hexagonal block with the leftmost purple peg and inserts it downwards to fully assemble the block onto the peg."}, {"label": "subtasks", "start_step": 1095, "end_step": 1109, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: release: Right hand releases the white hexagonal block on the leftmost purple peg by opening its fingers."}, {"label": "subtasks", "start_step": 1110, "end_step": 1154, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: reach: Right hand moves downward from the pegboard area to approach the white hexagonal block on the table with empty hand."}, {"label": "subtasks", "start_step": 1155, "end_step": 1177, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: grasp: Right hand contacts the white hexagonal block on the table and adjusts fingers to form a stable grasp."}, {"label": "subtasks", "start_step": 1178, "end_step": 1244, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it upward and backward toward the pegboard."}, {"label": "subtasks", "start_step": 1245, "end_step": 1274, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: grasp: Right hand grasps the white hexagonal hollow object on the black table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1275, "end_step": 1297, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal hollow object off the table and transports it upward and rightward to the position above the rightmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1298, "end_step": 1424, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: mate: Right hand mates the white hexagonal hollow object with the rightmost purple peg, aligning the object's central hole with the peg and lowering the object down along the peg."}, {"label": "subtasks", "start_step": 1425, "end_step": 1447, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: place_release: Right hand places the white ring onto the purple peg of the wooden base and releases the ring."}, {"label": "subtasks", "start_step": 1448, "end_step": 1484, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the table."}, {"label": "subtasks", "start_step": 1485, "end_step": 1529, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: grasp: Right hand grasps the green hexagonal block on the table with fingers closing and adjusting."}, {"label": "subtasks", "start_step": 1530, "end_step": 1559, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it toward the wooden peg rack."}, {"label": "subtasks", "start_step": 1560, "end_step": 1611, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: mate: Right hand aligns the green hexagonal block with the middle peg on the wooden rack and lowers it to fit onto the peg."}, {"label": "subtasks", "start_step": 1612, "end_step": 1634, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: release: Right hand releases the green hexagonal block on the peg, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 1635, "end_step": 1649, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: idle: Right hand remains empty above the wooden peg rack without moving."}, {"label": "subtasks", "start_step": 1650, "end_step": 1671, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: release: Right hand releases the white block on the green block of the wooden peg base."}, {"label": "subtasks", "start_step": 1672, "end_step": 1694, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: reach: Right hand moves downward to reach the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1695, "end_step": 1739, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1740, "end_step": 1754, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: lift: Right hand lifts the white hexagonal block up away from the black table surface."}, {"label": "subtasks", "start_step": 1755, "end_step": 1791, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: transport: Right hand transports the white hexagonal block upward and leftward to the area above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1792, "end_step": 1837, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg and fits it onto the peg."}, {"label": "subtasks", "start_step": 1838, "end_step": 1889, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: hold: Right hand holds the white hexagonal block on the purple peg without moving."}, {"label": "subtasks", "start_step": 1890, "end_step": 1911, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: release: Right hand releases the white cylindrical block on the purple rod of the wooden rack, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 1912, "end_step": 1957, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1958, "end_step": 1987, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface, with fingers closing around the block."}, {"label": "subtasks", "start_step": 1988, "end_step": 2017, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2018, "end_step": 2039, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod of the wooden base."}, {"label": "subtasks", "start_step": 2040, "end_step": 2084, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: hold: Right hand holds the white hexagonal block on the purple rod without moving."}, {"label": "subtasks", "start_step": 2085, "end_step": 2114, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: mate_release: Right hand mates the white cylindrical block with the purple peg on the wooden rack and releases the block."}, {"label": "subtasks", "start_step": 2115, "end_step": 2144, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 2145, "end_step": 2174, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table with fingers closing and adjusting for stable grip."}, {"label": "subtasks", "start_step": 2175, "end_step": 2211, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it leftward to the position above the wooden block rack with purple pegs."}, {"label": "subtasks", "start_step": 2212, "end_step": 2579, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: mate: Right hand aligns the hole of the white hexagonal block with the purple peg on the wooden rack and slowly fits the block down onto the peg."}, {"label": "subtasks", "start_step": 2580, "end_step": 2609, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: press_release: Right hand presses down and releases the top of the rightmost front white cylinder on the wooden base."}, {"label": "subtasks", "start_step": 2610, "end_step": 2631, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: reach: Right hand moves downward toward the green square block on the black table surface."}, {"label": "subtasks", "start_step": 2632, "end_step": 2684, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: grasp: Right hand grasps the green square block on the black table surface with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2685, "end_step": 2707, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: lift_transport: Right hand lifts the green square ring off the table and moves it toward the set of white bottles on the wooden base."}, {"label": "subtasks", "start_step": 2708, "end_step": 2864, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: mate_release: Right hand aligns the green square ring with the top of the front-right white bottle, fits it downward onto the bottle to complete assembly and releases the ring."}], "episode_index": 3}
+{"source_uid": "b2036f3eb283b844", "num_frames": 2686, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 51, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without significant movement. | Right hand: reach: Right hand moves forward from the right initial position towards the green hexagonal object on the black table."}, {"label": "goal", "start_step": 0, "end_step": 134, "id": "e3440b2e-9002-406c-b830-c9f91e201f03"}, {"label": "valid", "start_step": 0, "end_step": 2652, "id": "RAanJF84p97XiOn_E14Mg"}, {"label": "subtasks", "start_step": 52, "end_step": 134, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without significant movement. | Right hand: grasp: Right hand adjusts its fingers to contact and grasp the green hexagonal object, with subtle grip adjustment movements."}, {"label": "subtasks", "start_step": 135, "end_step": 157, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without significant movement. | Right hand: lift: Right hand lifts the green hexagonal block from the black table surface."}, {"label": "goal", "start_step": 135, "end_step": 279, "id": "7e330906-204b-46ba-87c5-28d89f9791d8"}, {"label": "subtasks", "start_step": 158, "end_step": 179, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without significant movement. | Right hand: transport: Right hand transports the green hexagonal block above the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 180, "end_step": 201, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without significant movement. | Right hand: mate: Right hand mates the green hexagonal block onto the leftmost purple peg of the wooden base."}, {"label": "subtasks", "start_step": 202, "end_step": 269, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without significant movement. | Right hand: hold: Right hand holds the green hexagonal block on the leftmost purple peg without moving."}, {"label": "subtasks", "start_step": 270, "end_step": 307, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without significant movement. | Right hand: place_release: Right hand places and releases the white hexagonal block onto the purple peg of the wooden base."}, {"label": "goal", "start_step": 280, "end_step": 353, "id": "16e2d993-9555-4379-a06a-47470035980e"}, {"label": "subtasks", "start_step": 308, "end_step": 321, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without significant movement. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 322, "end_step": 367, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without significant movement. | Right hand: grasp: Right hand adjusts fingers to grasp the white hexagonal block on the black tabletop."}, {"label": "goal", "start_step": 354, "end_step": 468, "id": "65b9a32c-17fe-4e46-93c6-93f7fcb06157"}, {"label": "subtasks", "start_step": 368, "end_step": 389, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without significant movement. | Right hand: lift_transport: Right hand lifts the white hexagonal nut from the table and transports it to the top of the leftmost purple post on the wooden base."}, {"label": "subtasks", "start_step": 390, "end_step": 449, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without significant movement. | Right hand: mate: Right hand aligns the white hexagonal nut with the leftmost purple post and inserts it onto the post."}, {"label": "subtasks", "start_step": 450, "end_step": 464, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without significant movement. | Right hand: release: Right hand releases the white hexagonal nut fitted on the leftmost purple post."}, {"label": "subtasks", "start_step": 465, "end_step": 487, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without significant movement. | Right hand: mate: Right hand mates the white cylindrical ring onto the peg of the wooden base."}, {"label": "goal", "start_step": 469, "end_step": 543, "id": "0a12d9c1-7dd6-414e-b3ca-4c238f4d9917"}, {"label": "subtasks", "start_step": 488, "end_step": 509, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without significant movement. | Right hand: reach: Right hand moves downward toward the white hexagonal part placed on the black table."}, {"label": "subtasks", "start_step": 510, "end_step": 561, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without significant movement. | Right hand: grasp: Right hand adjusts its fingers to grasp the white hexagonal part on the black table."}, {"label": "goal", "start_step": 544, "end_step": 732, "id": "f79f1b21-1f87-4472-9213-1cdc52fa3d7c"}, {"label": "subtasks", "start_step": 562, "end_step": 584, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without significant movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it towards the wooden rack with purple pegs."}, {"label": "subtasks", "start_step": 585, "end_step": 719, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without significant movement. | Right hand: mate: Right hand aligns the white hexagonal block with the leftmost purple peg on the wooden rack and inserts it onto the peg to complete assembly."}, {"label": "subtasks", "start_step": 720, "end_step": 749, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without significant movement. | Right hand: place: Right hand places the white ring onto the purple rod on the wooden base."}, {"label": "goal", "start_step": 733, "end_step": 824, "id": "c8639cde-379e-41d6-9566-8aaac17669f7"}, {"label": "subtasks", "start_step": 750, "end_step": 809, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without significant movement. | Right hand: reach: Right hand moves downwards towards the white hexagonal ring on the black tabletop."}, {"label": "subtasks", "start_step": 810, "end_step": 824, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without significant movement. | Right hand: grasp: Right hand grasps the white hexagonal ring on the black tabletop."}, {"label": "subtasks", "start_step": 825, "end_step": 847, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without significant movement. | Right hand: lift: Right hand lifts the white hexagonal block from the black table surface."}, {"label": "goal", "start_step": 825, "end_step": 1044, "id": "f2a3ff1b-2b6e-467c-81ee-ac9fde670304"}, {"label": "subtasks", "start_step": 848, "end_step": 869, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without significant movement. | Right hand: transport: Right hand transports the white hexagonal block above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 870, "end_step": 1034, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without significant movement. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod by aligning the hole and pressing down."}, {"label": "subtasks", "start_step": 1035, "end_step": 1064, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without significant movement. | Right hand: place_release: Right hand places the white ring onto the purple rod on the wooden base, then releases the ring."}, {"label": "goal", "start_step": 1045, "end_step": 1122, "id": "2252fa63-4786-4c4b-8f2e-6197060f9eea"}, {"label": "subtasks", "start_step": 1065, "end_step": 1109, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without significant movement. | Right hand: reach: Right hand moves toward the green block on the black table surface."}, {"label": "subtasks", "start_step": 1110, "end_step": 1139, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without significant movement. | Right hand: grasp: Right hand closes fingers to grasp the green block on the black table."}, {"label": "goal", "start_step": 1123, "end_step": 1559, "id": "b6c2a814-0f63-474d-975b-4b58a9e9c1c1"}, {"label": "subtasks", "start_step": 1140, "end_step": 1161, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without significant movement. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table and transports it towards the target peg on the wooden rack."}, {"label": "subtasks", "start_step": 1162, "end_step": 1304, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without significant movement. | Right hand: mate: Right hand aligns the green hexagonal block with the target peg and inserts it partially onto the peg."}, {"label": "subtasks", "start_step": 1305, "end_step": 1371, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without significant movement. | Right hand: lift_transport: Right hand lifts the green hexagonal block slightly from the peg and adjusts its position above the peg."}, {"label": "subtasks", "start_step": 1372, "end_step": 1559, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without significant movement. | Right hand: mate_press: Right hand aligns the green hexagonal block with the peg again and presses it down onto the peg."}, {"label": "subtasks", "start_step": 1560, "end_step": 1589, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without significant movement. | Right hand: release: Right hand releases the white block onto the pillar on the wooden base."}, {"label": "goal", "start_step": 1560, "end_step": 1629, "id": "4c10ac17-905b-4a4f-afba-3bbd78558478"}, {"label": "subtasks", "start_step": 1590, "end_step": 1649, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without significant movement. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the black table surface."}, {"label": "goal", "start_step": 1630, "end_step": 1765, "id": "fd39a328-a6b8-45a0-ac89-6976cac815ec"}, {"label": "subtasks", "start_step": 1650, "end_step": 1664, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without significant movement. | Right hand: grasp_lift: Right hand grasps the white hexagonal block and lifts it off the table surface."}, {"label": "subtasks", "start_step": 1665, "end_step": 1679, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without significant movement. | Right hand: transport: Right hand carries the white block towards the purple pillar on the wooden base."}, {"label": "subtasks", "start_step": 1680, "end_step": 1784, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without significant movement. | Right hand: mate: Right hand aligns the white block with the purple pillar and fits it onto the pillar."}, {"label": "goal", "start_step": 1766, "end_step": 1842, "id": "4ffb0cd3-717f-45af-966f-23109706ec3c"}, {"label": "subtasks", "start_step": 1785, "end_step": 1799, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without significant movement. | Right hand: release: Right hand releases the white hexagonal ring, with fingers separating from the ring."}, {"label": "subtasks", "start_step": 1800, "end_step": 1829, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without significant movement. | Right hand: reach: Right hand moves toward the white hexagonal ring placed on the black tabletop."}, {"label": "subtasks", "start_step": 1830, "end_step": 1859, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without significant movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, with fingers closing around the block to form a stable grip."}, {"label": "goal", "start_step": 1843, "end_step": 2212, "id": "1032de84-23c2-410e-b891-aeda8aacdeb1"}, {"label": "subtasks", "start_step": 1860, "end_step": 1874, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without significant movement. | Right hand: lift: Right hand lifts the grasped white hexagonal block off the black table surface."}, {"label": "subtasks", "start_step": 1875, "end_step": 1889, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without significant movement. | Right hand: transport: Right hand transports the white hexagonal block to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1890, "end_step": 2234, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without significant movement. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it down onto the rod to mate with the base assembly."}, {"label": "goal", "start_step": 2213, "end_step": 2284, "id": "08b4331a-66dd-41a6-afc7-393612d3aaf4"}, {"label": "subtasks", "start_step": 2235, "end_step": 2257, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without significant movement. | Right hand: reach: Right hand reaches toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 2258, "end_step": 2294, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without significant movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface."}, {"label": "goal", "start_step": 2285, "end_step": 2406, "id": "69fa153d-7dec-43b0-b33f-a9e8eca00264"}, {"label": "subtasks", "start_step": 2295, "end_step": 2324, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without significant movement. | Right hand: lift_transport: Right hand lifts the white hollow block from the tabletop and transports it towards the purple post on the wooden rack."}, {"label": "subtasks", "start_step": 2325, "end_step": 2399, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without significant movement. | Right hand: mate_release: Right hand fits the white hollow block onto the purple post then releases the block."}, {"label": "subtasks", "start_step": 2400, "end_step": 2429, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without significant movement. | Right hand: release: Right hand releases the purple cap of the bottle in the rightmost column of the wooden base."}, {"label": "goal", "start_step": 2407, "end_step": 2471, "id": "24137aef-23a0-4f24-9ff6-4f5120b65272"}, {"label": "subtasks", "start_step": 2430, "end_step": 2481, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without significant movement. | Right hand: reach: Right hand moves downward toward the green square block placed on the black table."}, {"label": "goal", "start_step": 2472, "end_step": 2611, "id": "2c56899e-6cae-4115-b03b-aef508414a24"}, {"label": "subtasks", "start_step": 2482, "end_step": 2497, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without significant movement. | Right hand: grasp: Right hand grasps the green square block on the black table with fingers closing."}, {"label": "subtasks", "start_step": 2498, "end_step": 2511, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without significant movement. | Right hand: lift_transport: Right hand lifts the green square block and transports it to above the purple capped bottle on the wooden base."}, {"label": "subtasks", "start_step": 2512, "end_step": 2594, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without significant movement. | Right hand: mate: Right hand mates the green square block onto the purple capped bottle by aligning and inserting it downward."}, {"label": "subtasks", "start_step": 2595, "end_step": 2609, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without significant movement. | Right hand: release: Right hand releases the green square block that is fitted on the purple capped bottle."}, {"label": "subtasks", "start_step": 2610, "end_step": 2624, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without significant movement. | Right hand: retreat: Right hand retreats away from the wooden base toward the right side."}, {"label": "home", "start_step": 2653, "end_step": 2685, "id": "44ouV552TprUI0pPXUupT"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 51, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without significant movement. | Right hand: reach: Right hand moves forward from the right initial position towards the green hexagonal object on the black table."}, {"label": "subtasks", "start_step": 52, "end_step": 134, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without significant movement. | Right hand: grasp: Right hand adjusts its fingers to contact and grasp the green hexagonal object, with subtle grip adjustment movements."}, {"label": "subtasks", "start_step": 135, "end_step": 157, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without significant movement. | Right hand: lift: Right hand lifts the green hexagonal block from the black table surface."}, {"label": "subtasks", "start_step": 158, "end_step": 179, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without significant movement. | Right hand: transport: Right hand transports the green hexagonal block above the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 180, "end_step": 201, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without significant movement. | Right hand: mate: Right hand mates the green hexagonal block onto the leftmost purple peg of the wooden base."}, {"label": "subtasks", "start_step": 202, "end_step": 269, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without significant movement. | Right hand: hold: Right hand holds the green hexagonal block on the leftmost purple peg without moving."}, {"label": "subtasks", "start_step": 270, "end_step": 307, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without significant movement. | Right hand: place_release: Right hand places and releases the white hexagonal block onto the purple peg of the wooden base."}, {"label": "subtasks", "start_step": 308, "end_step": 321, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without significant movement. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 322, "end_step": 367, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without significant movement. | Right hand: grasp: Right hand adjusts fingers to grasp the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 368, "end_step": 389, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without significant movement. | Right hand: lift_transport: Right hand lifts the white hexagonal nut from the table and transports it to the top of the leftmost purple post on the wooden base."}, {"label": "subtasks", "start_step": 390, "end_step": 449, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without significant movement. | Right hand: mate: Right hand aligns the white hexagonal nut with the leftmost purple post and inserts it onto the post."}, {"label": "subtasks", "start_step": 450, "end_step": 464, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without significant movement. | Right hand: release: Right hand releases the white hexagonal nut fitted on the leftmost purple post."}, {"label": "subtasks", "start_step": 465, "end_step": 487, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without significant movement. | Right hand: mate: Right hand mates the white cylindrical ring onto the peg of the wooden base."}, {"label": "subtasks", "start_step": 488, "end_step": 509, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without significant movement. | Right hand: reach: Right hand moves downward toward the white hexagonal part placed on the black table."}, {"label": "subtasks", "start_step": 510, "end_step": 561, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without significant movement. | Right hand: grasp: Right hand adjusts its fingers to grasp the white hexagonal part on the black table."}, {"label": "subtasks", "start_step": 562, "end_step": 584, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without significant movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it towards the wooden rack with purple pegs."}, {"label": "subtasks", "start_step": 585, "end_step": 719, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without significant movement. | Right hand: mate: Right hand aligns the white hexagonal block with the leftmost purple peg on the wooden rack and inserts it onto the peg to complete assembly."}, {"label": "subtasks", "start_step": 720, "end_step": 749, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without significant movement. | Right hand: place: Right hand places the white ring onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 750, "end_step": 809, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without significant movement. | Right hand: reach: Right hand moves downwards towards the white hexagonal ring on the black tabletop."}, {"label": "subtasks", "start_step": 810, "end_step": 824, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without significant movement. | Right hand: grasp: Right hand grasps the white hexagonal ring on the black tabletop."}, {"label": "subtasks", "start_step": 825, "end_step": 847, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without significant movement. | Right hand: lift: Right hand lifts the white hexagonal block from the black table surface."}, {"label": "subtasks", "start_step": 848, "end_step": 869, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without significant movement. | Right hand: transport: Right hand transports the white hexagonal block above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 870, "end_step": 1034, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without significant movement. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod by aligning the hole and pressing down."}, {"label": "subtasks", "start_step": 1035, "end_step": 1064, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without significant movement. | Right hand: place_release: Right hand places the white ring onto the purple rod on the wooden base, then releases the ring."}, {"label": "subtasks", "start_step": 1065, "end_step": 1109, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without significant movement. | Right hand: reach: Right hand moves toward the green block on the black table surface."}, {"label": "subtasks", "start_step": 1110, "end_step": 1139, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without significant movement. | Right hand: grasp: Right hand closes fingers to grasp the green block on the black table."}, {"label": "subtasks", "start_step": 1140, "end_step": 1161, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without significant movement. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table and transports it towards the target peg on the wooden rack."}, {"label": "subtasks", "start_step": 1162, "end_step": 1304, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without significant movement. | Right hand: mate: Right hand aligns the green hexagonal block with the target peg and inserts it partially onto the peg."}, {"label": "subtasks", "start_step": 1305, "end_step": 1371, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without significant movement. | Right hand: lift_transport: Right hand lifts the green hexagonal block slightly from the peg and adjusts its position above the peg."}, {"label": "subtasks", "start_step": 1372, "end_step": 1559, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without significant movement. | Right hand: mate_press: Right hand aligns the green hexagonal block with the peg again and presses it down onto the peg."}, {"label": "subtasks", "start_step": 1560, "end_step": 1589, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without significant movement. | Right hand: release: Right hand releases the white block onto the pillar on the wooden base."}, {"label": "subtasks", "start_step": 1590, "end_step": 1649, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without significant movement. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1650, "end_step": 1664, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without significant movement. | Right hand: grasp_lift: Right hand grasps the white hexagonal block and lifts it off the table surface."}, {"label": "subtasks", "start_step": 1665, "end_step": 1679, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without significant movement. | Right hand: transport: Right hand carries the white block towards the purple pillar on the wooden base."}, {"label": "subtasks", "start_step": 1680, "end_step": 1784, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without significant movement. | Right hand: mate: Right hand aligns the white block with the purple pillar and fits it onto the pillar."}, {"label": "subtasks", "start_step": 1785, "end_step": 1799, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without significant movement. | Right hand: release: Right hand releases the white hexagonal ring, with fingers separating from the ring."}, {"label": "subtasks", "start_step": 1800, "end_step": 1829, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without significant movement. | Right hand: reach: Right hand moves toward the white hexagonal ring placed on the black tabletop."}, {"label": "subtasks", "start_step": 1830, "end_step": 1859, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without significant movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, with fingers closing around the block to form a stable grip."}, {"label": "subtasks", "start_step": 1860, "end_step": 1874, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without significant movement. | Right hand: lift: Right hand lifts the grasped white hexagonal block off the black table surface."}, {"label": "subtasks", "start_step": 1875, "end_step": 1889, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without significant movement. | Right hand: transport: Right hand transports the white hexagonal block to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1890, "end_step": 2234, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without significant movement. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it down onto the rod to mate with the base assembly."}, {"label": "subtasks", "start_step": 2235, "end_step": 2257, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without significant movement. | Right hand: reach: Right hand reaches toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 2258, "end_step": 2294, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without significant movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 2295, "end_step": 2324, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without significant movement. | Right hand: lift_transport: Right hand lifts the white hollow block from the tabletop and transports it towards the purple post on the wooden rack."}, {"label": "subtasks", "start_step": 2325, "end_step": 2399, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without significant movement. | Right hand: mate_release: Right hand fits the white hollow block onto the purple post then releases the block."}, {"label": "subtasks", "start_step": 2400, "end_step": 2429, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without significant movement. | Right hand: release: Right hand releases the purple cap of the bottle in the rightmost column of the wooden base."}, {"label": "subtasks", "start_step": 2430, "end_step": 2481, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without significant movement. | Right hand: reach: Right hand moves downward toward the green square block placed on the black table."}, {"label": "subtasks", "start_step": 2482, "end_step": 2497, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without significant movement. | Right hand: grasp: Right hand grasps the green square block on the black table with fingers closing."}, {"label": "subtasks", "start_step": 2498, "end_step": 2511, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without significant movement. | Right hand: lift_transport: Right hand lifts the green square block and transports it to above the purple capped bottle on the wooden base."}, {"label": "subtasks", "start_step": 2512, "end_step": 2594, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without significant movement. | Right hand: mate: Right hand mates the green square block onto the purple capped bottle by aligning and inserting it downward."}, {"label": "subtasks", "start_step": 2595, "end_step": 2609, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without significant movement. | Right hand: release: Right hand releases the green square block that is fitted on the purple capped bottle."}, {"label": "subtasks", "start_step": 2610, "end_step": 2624, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without significant movement. | Right hand: retreat: Right hand retreats away from the wooden base toward the right side."}], "episode_index": 4}
+{"source_uid": "10a20ef2103e30a0", "num_frames": 2226, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 37, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand stays empty on the left side of the tabletop, remaining stationary without contacting any operational object throughout the segment. | Right hand: idle: Right hand remains empty at the right initial position above the table without obvious movement."}, {"label": "goal", "start_step": 0, "end_step": 133, "id": "d59cc41c-7954-45a9-ae26-a82e21634211"}, {"label": "valid", "start_step": 0, "end_step": 2193, "id": "ZY9sIkEmG2y2nOoY2C1JI"}, {"label": "subtasks", "start_step": 38, "end_step": 89, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand stays empty on the left side of the tabletop, remaining stationary without contacting any operational object throughout the segment. | Right hand: reach: Right hand moves forward and downward toward the green hexagonal nut in front of the wooden peg stand while remaining empty."}, {"label": "subtasks", "start_step": 90, "end_step": 164, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand stays empty on the left side of the tabletop, remaining stationary without contacting any operational object throughout the segment. | Right hand: grasp: Right hand makes contact with the green hexagonal nut on the table, closing fingers and adjusting contact points to form a grasp."}, {"label": "goal", "start_step": 134, "end_step": 262, "id": "1627bad1-4697-41ce-8c41-7d0c0fcc653c"}, {"label": "subtasks", "start_step": 165, "end_step": 179, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand stays empty on the left side of the tabletop, remaining stationary without contacting any operational object throughout the segment. | Right hand: lift: Right hand lifts the grasped green hexagonal block upward until the block is fully separated from the black table surface."}, {"label": "subtasks", "start_step": 180, "end_step": 201, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand stays empty on the left side of the tabletop, remaining stationary without contacting any operational object throughout the segment. | Right hand: transport: Right hand moves the grasped green hexagonal block to position it directly above the target purple peg on the wooden assembly stand."}, {"label": "subtasks", "start_step": 202, "end_step": 239, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand stays empty on the left side of the tabletop, remaining stationary without contacting any operational object throughout the segment. | Right hand: mate: Right hand lowers the green hexagonal block to align its central hole and fit it onto the target purple peg, forming an assembly with existing blocks on the stand."}, {"label": "subtasks", "start_step": 240, "end_step": 254, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand stays empty on the left side of the tabletop, remaining stationary without contacting any operational object throughout the segment. | Right hand: hold: Right hand holds the assembled green hexagonal block on the purple peg without observable movement of the hand or block."}, {"label": "subtasks", "start_step": 255, "end_step": 291, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand stays empty on the left side of the tabletop, remaining stationary without contacting any operational object throughout the segment. | Right hand: place_release: Right hand moves the held white hexagonal block downward to seat it on the purple peg of the wooden stand, releasing the block once it is fully supported by the peg."}, {"label": "goal", "start_step": 263, "end_step": 354, "id": "91df46d4-0858-4748-a1a9-a379c650095f"}, {"label": "subtasks", "start_step": 292, "end_step": 344, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand stays empty on the left side of the tabletop, remaining stationary without contacting any operational object throughout the segment. | Right hand: reach_grasp: Right hand travels downward to the white hexagonal nut resting on the table surface, adjusting finger and wrist positions to close around the nut for a stable grip."}, {"label": "subtasks", "start_step": 345, "end_step": 367, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand stays empty on the left side of the tabletop, remaining stationary without contacting any operational object throughout the segment. | Right hand: grasp: Right hand adjusts its grip on the white hexagonal nut resting on the black table surface."}, {"label": "goal", "start_step": 355, "end_step": 487, "id": "6474c987-97d9-40fa-8cc4-9738ed91e532"}, {"label": "subtasks", "start_step": 368, "end_step": 397, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand stays empty on the left side of the tabletop, remaining stationary without contacting any operational object throughout the segment. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table surface and transports it upward to the position directly above the target purple peg on the wooden assembly block."}, {"label": "subtasks", "start_step": 398, "end_step": 457, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand stays empty on the left side of the tabletop, remaining stationary without contacting any operational object throughout the segment. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the target purple peg and lowers the nut to fit it onto the peg."}, {"label": "subtasks", "start_step": 458, "end_step": 479, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand stays empty on the left side of the tabletop, remaining stationary without contacting any operational object throughout the segment. | Right hand: hold: Right hand holds the fitted white hexagonal nut on the purple peg without visible movement."}, {"label": "subtasks", "start_step": 480, "end_step": 509, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand stays empty on the left side of the tabletop, remaining stationary without contacting any operational object throughout the segment. | Right hand: place_release: Right hand holds the white cylindrical block, moves it downward to place it onto the green block on the wooden assembly base, and opens fingers to release the block."}, {"label": "goal", "start_step": 488, "end_step": 561, "id": "a8764a99-e405-4186-bc31-476b17947af1"}, {"label": "subtasks", "start_step": 510, "end_step": 524, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand stays empty on the left side of the tabletop, remaining stationary without contacting any operational object throughout the segment. | Right hand: reach: Right hand moves downward from the assembly base toward the white hexagonal block on the black table surface, approaching the target block."}, {"label": "subtasks", "start_step": 525, "end_step": 577, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand stays empty on the left side of the tabletop, remaining stationary without contacting any operational object throughout the segment. | Right hand: grasp: Right hand adjusts finger positions to close around the white hexagonal block on the black table surface to form a grasp."}, {"label": "goal", "start_step": 562, "end_step": 698, "id": "34dc7098-3068-4aae-b56a-b3958fb7771d"}, {"label": "subtasks", "start_step": 578, "end_step": 607, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand stays empty on the left side of the tabletop, remaining stationary without contacting any operational object throughout the segment. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward to position it near the empty purple peg on the wooden pegboard."}, {"label": "subtasks", "start_step": 608, "end_step": 644, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand stays empty on the left side of the tabletop, remaining stationary without contacting any operational object throughout the segment. | Right hand: mate: Right hand adjusts the position and orientation of the white hexagonal nut to align its central hollow opening with the top end of the empty purple peg on the wooden pegboard."}, {"label": "subtasks", "start_step": 645, "end_step": 689, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand stays empty on the left side of the tabletop, remaining stationary without contacting any operational object throughout the segment. | Right hand: place: Right hand lowers the aligned white hexagonal nut down the purple peg until the nut rests stably on the green plastic base fixed to the pegboard."}, {"label": "subtasks", "start_step": 690, "end_step": 757, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand stays empty on the left side of the tabletop, remaining stationary without contacting any operational object throughout the segment. | Right hand: reach: Right hand moves downward and slightly forward from above the wooden peg stand toward the white hexagonal block placed on the table in front of the stand, remaining empty with fingers slightly open during movement."}, {"label": "goal", "start_step": 699, "end_step": 768, "id": "d308f189-1197-4e79-b4e8-43cdb60993b9"}, {"label": "subtasks", "start_step": 758, "end_step": 787, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand stays empty on the left side of the tabletop, remaining stationary without contacting any operational object throughout the segment. | Right hand: grasp: Right hand makes contact with the target white hexagonal block, fingers close around the block and perform small adjustments to establish a stable grip."}, {"label": "goal", "start_step": 769, "end_step": 885, "id": "754de665-5cd8-4894-a5f3-b027ac1d06f2"}, {"label": "subtasks", "start_step": 788, "end_step": 817, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand stays empty on the left side of the tabletop, remaining stationary without contacting any operational object throughout the segment. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface and transports it upward to position it directly above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 818, "end_step": 884, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand stays empty on the left side of the tabletop, remaining stationary without contacting any operational object throughout the segment. | Right hand: mate: Right hand aligns the hole of the white hexagonal block with the purple rod on the wooden base, lowers the block to fit it onto the rod to complete assembly."}, {"label": "subtasks", "start_step": 885, "end_step": 929, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand stays empty on the left side of the tabletop, remaining stationary without contacting any operational object throughout the segment. | Right hand: reach: Right hand moves downward from the upper area of the wooden block rack with empty fingers to approach the green hexagonal nut placed on the table near the rack."}, {"label": "goal", "start_step": 886, "end_step": 957, "id": "a27edec0-07bb-4631-a141-8ddd7e8af8d1"}, {"label": "subtasks", "start_step": 930, "end_step": 974, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand stays empty on the left side of the tabletop, remaining stationary without contacting any operational object throughout the segment. | Right hand: grasp: Right hand closes its fingers around the green hexagonal nut on the table, making slight finger adjustments to form a stable grip while the nut stays on the table surface."}, {"label": "goal", "start_step": 958, "end_step": 1093, "id": "771ab5ce-ef99-49b5-8948-789a6a237eb5"}, {"label": "subtasks", "start_step": 975, "end_step": 989, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand stays empty on the left side of the tabletop, remaining stationary without contacting any operational object throughout the segment. | Right hand: lift: Right hand moves the grasped green hexagonal nut upward to lift it completely off the table surface."}, {"label": "subtasks", "start_step": 990, "end_step": 1034, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand stays empty on the left side of the tabletop, remaining stationary without contacting any operational object throughout the segment. | Right hand: transport: Right hand carries the lifted green hexagonal nut upward and horizontally toward the purple vertical post on the wooden block rack, positioning the nut directly above the post."}, {"label": "subtasks", "start_step": 1035, "end_step": 1079, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand stays empty on the left side of the tabletop, remaining stationary without contacting any operational object throughout the segment. | Right hand: mate_place: Right hand aligns the central hole of the green hexagonal nut with the purple vertical post, moves the nut downward to fit onto the post until the nut rests stably on the light purple block underneath."}, {"label": "subtasks", "start_step": 1080, "end_step": 1109, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand stays empty on the left side of the tabletop, remaining stationary without contacting any operational object throughout the segment. | Right hand: release: Right hand opens fingers to release the green block seated on the wooden peg stand, losing contact with the block."}, {"label": "goal", "start_step": 1094, "end_step": 1160, "id": "8d07ad65-16f3-486b-9662-d6cad20c1de3"}, {"label": "subtasks", "start_step": 1110, "end_step": 1131, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand stays empty on the left side of the tabletop, remaining stationary without contacting any operational object throughout the segment. | Right hand: reach: Right hand moves downward toward the white hexagonal block placed on the dark table surface, fingers held slightly open."}, {"label": "subtasks", "start_step": 1132, "end_step": 1154, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand stays empty on the left side of the tabletop, remaining stationary without contacting any operational object throughout the segment. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, adjusting finger position to form a grip."}, {"label": "subtasks", "start_step": 1155, "end_step": 1177, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand stays empty on the left side of the tabletop, remaining stationary without contacting any operational object throughout the segment. | Right hand: hold: Right hand holds the white hexagonal nut against the dark table surface without moving."}, {"label": "goal", "start_step": 1161, "end_step": 1321, "id": "69a33764-5792-40d9-8f00-2e0d1181f2ed"}, {"label": "subtasks", "start_step": 1178, "end_step": 1214, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand stays empty on the left side of the tabletop, remaining stationary without contacting any operational object throughout the segment. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table surface and moves it upward toward the wooden peg assembly."}, {"label": "subtasks", "start_step": 1215, "end_step": 1319, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand stays empty on the left side of the tabletop, remaining stationary without contacting any operational object throughout the segment. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple vertical peg on the wooden base, adjusting position to fit the nut onto the peg."}, {"label": "subtasks", "start_step": 1320, "end_step": 1341, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand stays empty on the left side of the tabletop, remaining stationary without contacting any operational object throughout the segment. | Right hand: place_release: Right hand places the white cylindrical block into the empty top-right slot of the wooden block stand, opening fingers to release the block once it is supported by the stand."}, {"label": "goal", "start_step": 1322, "end_step": 1404, "id": "e4eee4bf-2b3c-4a4c-be6f-fbf29c700c2a"}, {"label": "subtasks", "start_step": 1342, "end_step": 1394, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand stays empty on the left side of the tabletop, remaining stationary without contacting any operational object throughout the segment. | Right hand: reach: Right hand moves diagonally down-right toward the upper white hexagonal nut on the black table surface, holding fingers open during the approach to the target."}, {"label": "subtasks", "start_step": 1395, "end_step": 1417, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand stays empty on the left side of the tabletop, remaining stationary without contacting any operational object throughout the segment. | Right hand: grasp: Right hand closes fingers around the upper white hexagonal nut on the table to make contact and form an initial grip on the object."}, {"label": "goal", "start_step": 1405, "end_step": 1554, "id": "e0e0ed6f-df19-462f-89b2-f8d0e0ab2696"}, {"label": "subtasks", "start_step": 1418, "end_step": 1447, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand stays empty on the left side of the tabletop, remaining stationary without contacting any operational object throughout the segment. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table surface, moving it upward and leftward to the position directly above the purple post on the wooden block stand."}, {"label": "subtasks", "start_step": 1448, "end_step": 1544, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand stays empty on the left side of the tabletop, remaining stationary without contacting any operational object throughout the segment. | Right hand: mate: Right hand aligns the hole of the white hexagonal nut with the purple post, lowering the nut to fit it onto the post."}, {"label": "subtasks", "start_step": 1545, "end_step": 1567, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand stays empty on the left side of the tabletop, remaining stationary without contacting any operational object throughout the segment. | Right hand: place: Right hand holds the white cylindrical block on the purple rod, moves it downward until the block rests stably on the wooden base."}, {"label": "goal", "start_step": 1555, "end_step": 1624, "id": "0f02e515-a673-4833-a3a1-75d595ed2efb"}, {"label": "subtasks", "start_step": 1568, "end_step": 1581, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand stays empty on the left side of the tabletop, remaining stationary without contacting any operational object throughout the segment. | Right hand: release: Right hand opens fingers to release the white cylindrical block, separating from the block on the wooden base."}, {"label": "subtasks", "start_step": 1582, "end_step": 1619, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand stays empty on the left side of the tabletop, remaining stationary without contacting any operational object throughout the segment. | Right hand: reach: Right hand moves empty toward the white hexagonal nut on the dark table surface, approaching the target object."}, {"label": "subtasks", "start_step": 1620, "end_step": 1634, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand stays empty on the left side of the tabletop, remaining stationary without contacting any operational object throughout the segment. | Right hand: grasp: Right hand closes fingers to make contact with the white hexagonal nut on the table, initiating a grasp."}, {"label": "goal", "start_step": 1625, "end_step": 1743, "id": "e76bb455-b32c-4dc3-b772-4e91635bfbce"}, {"label": "subtasks", "start_step": 1635, "end_step": 1649, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand stays empty on the left side of the tabletop, remaining stationary without contacting any operational object throughout the segment. | Right hand: lift: Right hand lifts the grasped white hexagonal nut upward until the nut is completely separated from the table surface."}, {"label": "subtasks", "start_step": 1650, "end_step": 1671, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand stays empty on the left side of the tabletop, remaining stationary without contacting any operational object throughout the segment. | Right hand: transport: Right hand moves the grasped white hexagonal nut toward the purple vertical peg on the wooden block base, positioning the nut directly above the peg."}, {"label": "subtasks", "start_step": 1672, "end_step": 1731, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand stays empty on the left side of the tabletop, remaining stationary without contacting any operational object throughout the segment. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple vertical peg and lowers the nut to fit it securely onto the peg."}, {"label": "subtasks", "start_step": 1732, "end_step": 1761, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand stays empty on the left side of the tabletop, remaining stationary without contacting any operational object throughout the segment. | Right hand: release: Right hand opens its fingers to release the white hexagonal nut fitted on the purple peg, separating the hand from the nut surface."}, {"label": "goal", "start_step": 1744, "end_step": 1890, "id": "1c240531-87a5-4911-86c9-fc9014e8434d"}, {"label": "subtasks", "start_step": 1762, "end_step": 1784, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand stays empty on the left side of the tabletop, remaining stationary without contacting any operational object throughout the segment. | Right hand: reach: Right hand moves empty downward toward the green cube placed on the dark table surface."}, {"label": "subtasks", "start_step": 1785, "end_step": 1889, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand stays empty on the left side of the tabletop, remaining stationary without contacting any operational object throughout the segment. | Right hand: grasp: Right hand adjusts finger positions around the green cube to establish a stable grip."}, {"label": "subtasks", "start_step": 1890, "end_step": 1904, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand stays empty on the left side of the tabletop, remaining stationary without contacting any operational object throughout the segment. | Right hand: hold: Right hand holds the green hexagonal block resting on the dark gray table surface without moving."}, {"label": "goal", "start_step": 1891, "end_step": 2169, "id": "0e4fe6c8-2973-48ab-9822-f52313a280a2"}, {"label": "subtasks", "start_step": 1905, "end_step": 1919, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand stays empty on the left side of the tabletop, remaining stationary without contacting any operational object throughout the segment. | Right hand: lift: Right hand moves upward to lift the green hexagonal block completely off the dark gray table surface."}, {"label": "subtasks", "start_step": 1920, "end_step": 1941, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand stays empty on the left side of the tabletop, remaining stationary without contacting any operational object throughout the segment. | Right hand: transport: Right hand moves the held green hexagonal block upward and rightward to the position above the target post on the wooden block rack."}, {"label": "subtasks", "start_step": 1942, "end_step": 2024, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand stays empty on the left side of the tabletop, remaining stationary without contacting any operational object throughout the segment. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the target post on the wooden rack and lowers the block to attempt fitting onto the post."}, {"label": "subtasks", "start_step": 2025, "end_step": 2054, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand stays empty on the left side of the tabletop, remaining stationary without contacting any operational object throughout the segment. | Right hand: reorient: Right hand slightly lifts the green hexagonal block and rotates its wrist slightly to adjust the block's orientation for better alignment."}, {"label": "subtasks", "start_step": 2055, "end_step": 2129, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand stays empty on the left side of the tabletop, remaining stationary without contacting any operational object throughout the segment. | Right hand: mate: Right hand aligns the adjusted green hexagonal block with the target post and lowers the block to fit onto the post."}, {"label": "subtasks", "start_step": 2130, "end_step": 2151, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand stays empty on the left side of the tabletop, remaining stationary without contacting any operational object throughout the segment. | Right hand: press: Right hand presses downward on the top surface of the green hexagonal block along the post axis to fully seat the block on the post."}, {"label": "subtasks", "start_step": 2152, "end_step": 2167, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand stays empty on the left side of the tabletop, remaining stationary without contacting any operational object throughout the segment. | Right hand: release: Right hand opens its fingers to release the fully seated green hexagonal block, separating the hand from the block."}, {"label": "subtasks", "start_step": 2168, "end_step": 2174, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand stays empty on the left side of the tabletop, remaining stationary without contacting any operational object throughout the segment. | Right hand: retreat: Right hand moves backward away from the wooden block rack after releasing the block."}, {"label": "home", "start_step": 2194, "end_step": 2225, "id": "ppxdiQVBegwRlTw5GSph5"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 37, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand stays empty on the left side of the tabletop, remaining stationary without contacting any operational object throughout the segment. | Right hand: idle: Right hand remains empty at the right initial position above the table without obvious movement."}, {"label": "subtasks", "start_step": 38, "end_step": 89, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand stays empty on the left side of the tabletop, remaining stationary without contacting any operational object throughout the segment. | Right hand: reach: Right hand moves forward and downward toward the green hexagonal nut in front of the wooden peg stand while remaining empty."}, {"label": "subtasks", "start_step": 90, "end_step": 164, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand stays empty on the left side of the tabletop, remaining stationary without contacting any operational object throughout the segment. | Right hand: grasp: Right hand makes contact with the green hexagonal nut on the table, closing fingers and adjusting contact points to form a grasp."}, {"label": "subtasks", "start_step": 165, "end_step": 179, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand stays empty on the left side of the tabletop, remaining stationary without contacting any operational object throughout the segment. | Right hand: lift: Right hand lifts the grasped green hexagonal block upward until the block is fully separated from the black table surface."}, {"label": "subtasks", "start_step": 180, "end_step": 201, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand stays empty on the left side of the tabletop, remaining stationary without contacting any operational object throughout the segment. | Right hand: transport: Right hand moves the grasped green hexagonal block to position it directly above the target purple peg on the wooden assembly stand."}, {"label": "subtasks", "start_step": 202, "end_step": 239, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand stays empty on the left side of the tabletop, remaining stationary without contacting any operational object throughout the segment. | Right hand: mate: Right hand lowers the green hexagonal block to align its central hole and fit it onto the target purple peg, forming an assembly with existing blocks on the stand."}, {"label": "subtasks", "start_step": 240, "end_step": 254, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand stays empty on the left side of the tabletop, remaining stationary without contacting any operational object throughout the segment. | Right hand: hold: Right hand holds the assembled green hexagonal block on the purple peg without observable movement of the hand or block."}, {"label": "subtasks", "start_step": 255, "end_step": 291, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand stays empty on the left side of the tabletop, remaining stationary without contacting any operational object throughout the segment. | Right hand: place_release: Right hand moves the held white hexagonal block downward to seat it on the purple peg of the wooden stand, releasing the block once it is fully supported by the peg."}, {"label": "subtasks", "start_step": 292, "end_step": 344, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand stays empty on the left side of the tabletop, remaining stationary without contacting any operational object throughout the segment. | Right hand: reach_grasp: Right hand travels downward to the white hexagonal nut resting on the table surface, adjusting finger and wrist positions to close around the nut for a stable grip."}, {"label": "subtasks", "start_step": 345, "end_step": 367, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand stays empty on the left side of the tabletop, remaining stationary without contacting any operational object throughout the segment. | Right hand: grasp: Right hand adjusts its grip on the white hexagonal nut resting on the black table surface."}, {"label": "subtasks", "start_step": 368, "end_step": 397, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand stays empty on the left side of the tabletop, remaining stationary without contacting any operational object throughout the segment. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table surface and transports it upward to the position directly above the target purple peg on the wooden assembly block."}, {"label": "subtasks", "start_step": 398, "end_step": 457, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand stays empty on the left side of the tabletop, remaining stationary without contacting any operational object throughout the segment. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the target purple peg and lowers the nut to fit it onto the peg."}, {"label": "subtasks", "start_step": 458, "end_step": 479, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand stays empty on the left side of the tabletop, remaining stationary without contacting any operational object throughout the segment. | Right hand: hold: Right hand holds the fitted white hexagonal nut on the purple peg without visible movement."}, {"label": "subtasks", "start_step": 480, "end_step": 509, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand stays empty on the left side of the tabletop, remaining stationary without contacting any operational object throughout the segment. | Right hand: place_release: Right hand holds the white cylindrical block, moves it downward to place it onto the green block on the wooden assembly base, and opens fingers to release the block."}, {"label": "subtasks", "start_step": 510, "end_step": 524, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand stays empty on the left side of the tabletop, remaining stationary without contacting any operational object throughout the segment. | Right hand: reach: Right hand moves downward from the assembly base toward the white hexagonal block on the black table surface, approaching the target block."}, {"label": "subtasks", "start_step": 525, "end_step": 577, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand stays empty on the left side of the tabletop, remaining stationary without contacting any operational object throughout the segment. | Right hand: grasp: Right hand adjusts finger positions to close around the white hexagonal block on the black table surface to form a grasp."}, {"label": "subtasks", "start_step": 578, "end_step": 607, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand stays empty on the left side of the tabletop, remaining stationary without contacting any operational object throughout the segment. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward to position it near the empty purple peg on the wooden pegboard."}, {"label": "subtasks", "start_step": 608, "end_step": 644, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand stays empty on the left side of the tabletop, remaining stationary without contacting any operational object throughout the segment. | Right hand: mate: Right hand adjusts the position and orientation of the white hexagonal nut to align its central hollow opening with the top end of the empty purple peg on the wooden pegboard."}, {"label": "subtasks", "start_step": 645, "end_step": 689, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand stays empty on the left side of the tabletop, remaining stationary without contacting any operational object throughout the segment. | Right hand: place: Right hand lowers the aligned white hexagonal nut down the purple peg until the nut rests stably on the green plastic base fixed to the pegboard."}, {"label": "subtasks", "start_step": 690, "end_step": 757, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand stays empty on the left side of the tabletop, remaining stationary without contacting any operational object throughout the segment. | Right hand: reach: Right hand moves downward and slightly forward from above the wooden peg stand toward the white hexagonal block placed on the table in front of the stand, remaining empty with fingers slightly open during movement."}, {"label": "subtasks", "start_step": 758, "end_step": 787, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand stays empty on the left side of the tabletop, remaining stationary without contacting any operational object throughout the segment. | Right hand: grasp: Right hand makes contact with the target white hexagonal block, fingers close around the block and perform small adjustments to establish a stable grip."}, {"label": "subtasks", "start_step": 788, "end_step": 817, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand stays empty on the left side of the tabletop, remaining stationary without contacting any operational object throughout the segment. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface and transports it upward to position it directly above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 818, "end_step": 884, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand stays empty on the left side of the tabletop, remaining stationary without contacting any operational object throughout the segment. | Right hand: mate: Right hand aligns the hole of the white hexagonal block with the purple rod on the wooden base, lowers the block to fit it onto the rod to complete assembly."}, {"label": "subtasks", "start_step": 885, "end_step": 929, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand stays empty on the left side of the tabletop, remaining stationary without contacting any operational object throughout the segment. | Right hand: reach: Right hand moves downward from the upper area of the wooden block rack with empty fingers to approach the green hexagonal nut placed on the table near the rack."}, {"label": "subtasks", "start_step": 930, "end_step": 974, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand stays empty on the left side of the tabletop, remaining stationary without contacting any operational object throughout the segment. | Right hand: grasp: Right hand closes its fingers around the green hexagonal nut on the table, making slight finger adjustments to form a stable grip while the nut stays on the table surface."}, {"label": "subtasks", "start_step": 975, "end_step": 989, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand stays empty on the left side of the tabletop, remaining stationary without contacting any operational object throughout the segment. | Right hand: lift: Right hand moves the grasped green hexagonal nut upward to lift it completely off the table surface."}, {"label": "subtasks", "start_step": 990, "end_step": 1034, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand stays empty on the left side of the tabletop, remaining stationary without contacting any operational object throughout the segment. | Right hand: transport: Right hand carries the lifted green hexagonal nut upward and horizontally toward the purple vertical post on the wooden block rack, positioning the nut directly above the post."}, {"label": "subtasks", "start_step": 1035, "end_step": 1079, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand stays empty on the left side of the tabletop, remaining stationary without contacting any operational object throughout the segment. | Right hand: mate_place: Right hand aligns the central hole of the green hexagonal nut with the purple vertical post, moves the nut downward to fit onto the post until the nut rests stably on the light purple block underneath."}, {"label": "subtasks", "start_step": 1080, "end_step": 1109, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand stays empty on the left side of the tabletop, remaining stationary without contacting any operational object throughout the segment. | Right hand: release: Right hand opens fingers to release the green block seated on the wooden peg stand, losing contact with the block."}, {"label": "subtasks", "start_step": 1110, "end_step": 1131, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand stays empty on the left side of the tabletop, remaining stationary without contacting any operational object throughout the segment. | Right hand: reach: Right hand moves downward toward the white hexagonal block placed on the dark table surface, fingers held slightly open."}, {"label": "subtasks", "start_step": 1132, "end_step": 1154, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand stays empty on the left side of the tabletop, remaining stationary without contacting any operational object throughout the segment. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, adjusting finger position to form a grip."}, {"label": "subtasks", "start_step": 1155, "end_step": 1177, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand stays empty on the left side of the tabletop, remaining stationary without contacting any operational object throughout the segment. | Right hand: hold: Right hand holds the white hexagonal nut against the dark table surface without moving."}, {"label": "subtasks", "start_step": 1178, "end_step": 1214, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand stays empty on the left side of the tabletop, remaining stationary without contacting any operational object throughout the segment. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table surface and moves it upward toward the wooden peg assembly."}, {"label": "subtasks", "start_step": 1215, "end_step": 1319, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand stays empty on the left side of the tabletop, remaining stationary without contacting any operational object throughout the segment. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple vertical peg on the wooden base, adjusting position to fit the nut onto the peg."}, {"label": "subtasks", "start_step": 1320, "end_step": 1341, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand stays empty on the left side of the tabletop, remaining stationary without contacting any operational object throughout the segment. | Right hand: place_release: Right hand places the white cylindrical block into the empty top-right slot of the wooden block stand, opening fingers to release the block once it is supported by the stand."}, {"label": "subtasks", "start_step": 1342, "end_step": 1394, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand stays empty on the left side of the tabletop, remaining stationary without contacting any operational object throughout the segment. | Right hand: reach: Right hand moves diagonally down-right toward the upper white hexagonal nut on the black table surface, holding fingers open during the approach to the target."}, {"label": "subtasks", "start_step": 1395, "end_step": 1417, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand stays empty on the left side of the tabletop, remaining stationary without contacting any operational object throughout the segment. | Right hand: grasp: Right hand closes fingers around the upper white hexagonal nut on the table to make contact and form an initial grip on the object."}, {"label": "subtasks", "start_step": 1418, "end_step": 1447, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand stays empty on the left side of the tabletop, remaining stationary without contacting any operational object throughout the segment. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table surface, moving it upward and leftward to the position directly above the purple post on the wooden block stand."}, {"label": "subtasks", "start_step": 1448, "end_step": 1544, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand stays empty on the left side of the tabletop, remaining stationary without contacting any operational object throughout the segment. | Right hand: mate: Right hand aligns the hole of the white hexagonal nut with the purple post, lowering the nut to fit it onto the post."}, {"label": "subtasks", "start_step": 1545, "end_step": 1567, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand stays empty on the left side of the tabletop, remaining stationary without contacting any operational object throughout the segment. | Right hand: place: Right hand holds the white cylindrical block on the purple rod, moves it downward until the block rests stably on the wooden base."}, {"label": "subtasks", "start_step": 1568, "end_step": 1581, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand stays empty on the left side of the tabletop, remaining stationary without contacting any operational object throughout the segment. | Right hand: release: Right hand opens fingers to release the white cylindrical block, separating from the block on the wooden base."}, {"label": "subtasks", "start_step": 1582, "end_step": 1619, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand stays empty on the left side of the tabletop, remaining stationary without contacting any operational object throughout the segment. | Right hand: reach: Right hand moves empty toward the white hexagonal nut on the dark table surface, approaching the target object."}, {"label": "subtasks", "start_step": 1620, "end_step": 1634, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand stays empty on the left side of the tabletop, remaining stationary without contacting any operational object throughout the segment. | Right hand: grasp: Right hand closes fingers to make contact with the white hexagonal nut on the table, initiating a grasp."}, {"label": "subtasks", "start_step": 1635, "end_step": 1649, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand stays empty on the left side of the tabletop, remaining stationary without contacting any operational object throughout the segment. | Right hand: lift: Right hand lifts the grasped white hexagonal nut upward until the nut is completely separated from the table surface."}, {"label": "subtasks", "start_step": 1650, "end_step": 1671, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand stays empty on the left side of the tabletop, remaining stationary without contacting any operational object throughout the segment. | Right hand: transport: Right hand moves the grasped white hexagonal nut toward the purple vertical peg on the wooden block base, positioning the nut directly above the peg."}, {"label": "subtasks", "start_step": 1672, "end_step": 1731, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand stays empty on the left side of the tabletop, remaining stationary without contacting any operational object throughout the segment. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple vertical peg and lowers the nut to fit it securely onto the peg."}, {"label": "subtasks", "start_step": 1732, "end_step": 1761, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand stays empty on the left side of the tabletop, remaining stationary without contacting any operational object throughout the segment. | Right hand: release: Right hand opens its fingers to release the white hexagonal nut fitted on the purple peg, separating the hand from the nut surface."}, {"label": "subtasks", "start_step": 1762, "end_step": 1784, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand stays empty on the left side of the tabletop, remaining stationary without contacting any operational object throughout the segment. | Right hand: reach: Right hand moves empty downward toward the green cube placed on the dark table surface."}, {"label": "subtasks", "start_step": 1785, "end_step": 1889, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand stays empty on the left side of the tabletop, remaining stationary without contacting any operational object throughout the segment. | Right hand: grasp: Right hand adjusts finger positions around the green cube to establish a stable grip."}, {"label": "subtasks", "start_step": 1890, "end_step": 1904, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand stays empty on the left side of the tabletop, remaining stationary without contacting any operational object throughout the segment. | Right hand: hold: Right hand holds the green hexagonal block resting on the dark gray table surface without moving."}, {"label": "subtasks", "start_step": 1905, "end_step": 1919, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand stays empty on the left side of the tabletop, remaining stationary without contacting any operational object throughout the segment. | Right hand: lift: Right hand moves upward to lift the green hexagonal block completely off the dark gray table surface."}, {"label": "subtasks", "start_step": 1920, "end_step": 1941, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand stays empty on the left side of the tabletop, remaining stationary without contacting any operational object throughout the segment. | Right hand: transport: Right hand moves the held green hexagonal block upward and rightward to the position above the target post on the wooden block rack."}, {"label": "subtasks", "start_step": 1942, "end_step": 2024, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand stays empty on the left side of the tabletop, remaining stationary without contacting any operational object throughout the segment. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the target post on the wooden rack and lowers the block to attempt fitting onto the post."}, {"label": "subtasks", "start_step": 2025, "end_step": 2054, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand stays empty on the left side of the tabletop, remaining stationary without contacting any operational object throughout the segment. | Right hand: reorient: Right hand slightly lifts the green hexagonal block and rotates its wrist slightly to adjust the block's orientation for better alignment."}, {"label": "subtasks", "start_step": 2055, "end_step": 2129, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand stays empty on the left side of the tabletop, remaining stationary without contacting any operational object throughout the segment. | Right hand: mate: Right hand aligns the adjusted green hexagonal block with the target post and lowers the block to fit onto the post."}, {"label": "subtasks", "start_step": 2130, "end_step": 2151, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand stays empty on the left side of the tabletop, remaining stationary without contacting any operational object throughout the segment. | Right hand: press: Right hand presses downward on the top surface of the green hexagonal block along the post axis to fully seat the block on the post."}, {"label": "subtasks", "start_step": 2152, "end_step": 2167, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand stays empty on the left side of the tabletop, remaining stationary without contacting any operational object throughout the segment. | Right hand: release: Right hand opens its fingers to release the fully seated green hexagonal block, separating the hand from the block."}, {"label": "subtasks", "start_step": 2168, "end_step": 2174, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand stays empty on the left side of the tabletop, remaining stationary without contacting any operational object throughout the segment. | Right hand: retreat: Right hand moves backward away from the wooden block rack after releasing the block."}], "episode_index": 5}
+{"source_uid": "444ecef32ebfd14e", "num_frames": 2267, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 37, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_hand_pose: Left hand moves slightly upward and rotates its wrist, adjusting finger posture while remaining empty. | Right hand: reach: Right hand moves leftward and downward toward the green hexagonal block on the black table, with fingers open."}, {"label": "goal", "start_step": 0, "end_step": 133, "id": "e5b50b51-fd00-45a3-af51-1cc8eb65a678"}, {"label": "valid", "start_step": 0, "end_step": 2233, "id": "x3aioetuxe4oREZTIX24F"}, {"label": "subtasks", "start_step": 38, "end_step": 81, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves leftward and downward toward the green hexagonal block on the black table, with fingers open."}, {"label": "subtasks", "start_step": 82, "end_step": 119, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 120, "end_step": 141, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift: Right hand lifts the green hexagonal block up from the black worktable surface."}, {"label": "goal", "start_step": 134, "end_step": 281, "id": "25bef831-d652-4b62-8e70-ea22c4bd93c7"}, {"label": "subtasks", "start_step": 142, "end_step": 164, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: transport: Right hand transports the green hexagonal block to the position above the leftmost peg of the rack."}, {"label": "subtasks", "start_step": 165, "end_step": 224, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the leftmost peg of the rack by lowering it to fit the hole."}, {"label": "subtasks", "start_step": 225, "end_step": 269, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: hold: Right hand holds the green hexagonal block on the leftmost peg of the rack without moving."}, {"label": "subtasks", "start_step": 270, "end_step": 299, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: release: Right hand releases the white hexagonal block on the leftmost purple peg of the wooden base, with fingers gradually opening and separating from the block."}, {"label": "goal", "start_step": 282, "end_step": 342, "id": "f4915f9e-ae29-46e6-93ec-8cf9be9478a9"}, {"label": "subtasks", "start_step": 300, "end_step": 321, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves downward and forward to reach the white hexagonal block on the tabletop to the left of the green block."}, {"label": "subtasks", "start_step": 322, "end_step": 367, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the tabletop, with fingers closing and adjusting to form a stable grip."}, {"label": "goal", "start_step": 343, "end_step": 470, "id": "b6bbc6a1-40a4-41a0-93dc-f812721e0a06"}, {"label": "subtasks", "start_step": 368, "end_step": 389, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the tabletop and transports it upward and rightward to the top of the leftmost purple peg of the wooden base."}, {"label": "subtasks", "start_step": 390, "end_step": 441, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the leftmost purple peg and inserts it downward along the peg until it reaches the green block below."}, {"label": "subtasks", "start_step": 442, "end_step": 487, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: release: Right hand releases the white hexagonal block on the leftmost purple peg, with fingers opening and separating from the block."}, {"label": "goal", "start_step": 471, "end_step": 544, "id": "5871d4ce-26a8-4e21-952f-6b1356e42cde"}, {"label": "subtasks", "start_step": 488, "end_step": 517, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table surface, with empty hand."}, {"label": "subtasks", "start_step": 518, "end_step": 561, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table surface, with fingers closing and adjusting to form stable grip."}, {"label": "goal", "start_step": 545, "end_step": 685, "id": "90e84b0c-0393-42bb-9604-eb509cbe048b"}, {"label": "subtasks", "start_step": 562, "end_step": 577, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table and transports it upward and leftward toward the wooden peg rack with purple pegs."}, {"label": "subtasks", "start_step": 578, "end_step": 674, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand mates the white hexagonal nut onto the top-left purple peg of the wooden rack, moving downward continuously to insert the peg through the nut's central hole."}, {"label": "subtasks", "start_step": 675, "end_step": 704, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate_release: Right hand mates the white hexagonal block onto the left purple peg and releases the block."}, {"label": "goal", "start_step": 686, "end_step": 760, "id": "8744c70d-f2bf-4211-a65a-82b854b2f1fb"}, {"label": "subtasks", "start_step": 705, "end_step": 727, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 728, "end_step": 779, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table with fingers closing and adjusting."}, {"label": "goal", "start_step": 761, "end_step": 885, "id": "4997455e-1607-44bf-b44e-be8a1f9bf6f0"}, {"label": "subtasks", "start_step": 780, "end_step": 794, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift_transport: Right hand lifts the white hollow hexagonal block from the table and moves it to above the middle purple peg of the wooden base."}, {"label": "subtasks", "start_step": 795, "end_step": 884, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate_release: Right hand fits the white hollow hexagonal block onto the middle purple peg and releases the block after it reaches the base."}, {"label": "subtasks", "start_step": 885, "end_step": 907, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: release: Right hand releases the white cylindrical block on the purple peg of the wooden base, with fingers opening to separate from the block."}, {"label": "goal", "start_step": 886, "end_step": 950, "id": "c9f36ef0-3f86-4d6f-88cb-08fae638f84b"}, {"label": "subtasks", "start_step": 908, "end_step": 929, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand reaches downward toward the green hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 930, "end_step": 959, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers closing around the block to form a stable grip."}, {"label": "goal", "start_step": 951, "end_step": 1065, "id": "45950de5-e255-4f9b-a9f8-abb30fdf0e64"}, {"label": "subtasks", "start_step": 960, "end_step": 981, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it upward toward the wooden base with pegs."}, {"label": "subtasks", "start_step": 982, "end_step": 1064, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the front purple peg of the wooden base by aligning the hole and lowering the block onto the peg."}, {"label": "subtasks", "start_step": 1065, "end_step": 1087, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: release: Right hand releases the object on the wooden base, with fingers opening to separate from the object."}, {"label": "goal", "start_step": 1066, "end_step": 1147, "id": "cd93623e-4d0b-4374-a4b4-f1e4e06abb49"}, {"label": "subtasks", "start_step": 1088, "end_step": 1109, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal part on the black table, with fingers slightly open."}, {"label": "subtasks", "start_step": 1110, "end_step": 1169, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand grasps the white hexagonal part on the black table, with fingers closing and adjusting to form a stable grip."}, {"label": "goal", "start_step": 1148, "end_step": 1361, "id": "cb306e6a-a4aa-425e-877e-64e8e2d69bdd"}, {"label": "subtasks", "start_step": 1170, "end_step": 1184, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the black table and transports it to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1185, "end_step": 1349, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod on the wooden base and moves it downward to assemble the block onto the rod."}, {"label": "subtasks", "start_step": 1350, "end_step": 1379, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: release: Right hand releases the purple rod on the wooden base, with fingers gradually opening to separate from the rod."}, {"label": "goal", "start_step": 1362, "end_step": 1434, "id": "c17ed897-2ba8-46ca-a8c5-a8d46fcae25b"}, {"label": "subtasks", "start_step": 1380, "end_step": 1424, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves downward and rightward toward the upper white hexagonal block on the table, keeping fingers open."}, {"label": "subtasks", "start_step": 1425, "end_step": 1454, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand grasps the upper white hexagonal block on the table, with fingers closing around the block."}, {"label": "goal", "start_step": 1435, "end_step": 1582, "id": "6910b443-a7fb-4016-836f-a2b882df5864"}, {"label": "subtasks", "start_step": 1455, "end_step": 1484, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1485, "end_step": 1574, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate_release: Right hand aligns the white hexagonal block with the purple rod, fits it onto the rod, and releases the block."}, {"label": "subtasks", "start_step": 1575, "end_step": 1604, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: place_release: Right hand places the white cylindrical block onto the purple rod on the wooden base and releases it."}, {"label": "goal", "start_step": 1583, "end_step": 1645, "id": "546a20e8-06b9-49a2-bfc5-0342eb1f443b"}, {"label": "subtasks", "start_step": 1605, "end_step": 1634, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand reaches toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1635, "end_step": 1664, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing."}, {"label": "goal", "start_step": 1646, "end_step": 1775, "id": "cc15bd1d-8fac-4cd8-91df-7286e8e1a614"}, {"label": "subtasks", "start_step": 1665, "end_step": 1687, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1688, "end_step": 1769, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod by aligning and lowering it onto the rod."}, {"label": "subtasks", "start_step": 1770, "end_step": 1784, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: release: Right hand releases the white hexagonal block on the purple rod with fingers opening."}, {"label": "goal", "start_step": 1776, "end_step": 1834, "id": "06e62948-3cbb-42cb-afb4-31728a45cd0e"}, {"label": "subtasks", "start_step": 1785, "end_step": 1829, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves downward from the right side of the block tower toward the green cubic block on the black table."}, {"label": "subtasks", "start_step": 1830, "end_step": 1851, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green cubic block on the black table."}, {"label": "goal", "start_step": 1835, "end_step": 2206, "id": "8b8e5153-d5f5-43ba-a73b-0130742a6081"}, {"label": "subtasks", "start_step": 1852, "end_step": 1881, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift_transport: Right hand lifts the green cubic block off the table and transports it upward and leftward to the top of the rightmost column of the block tower."}, {"label": "subtasks", "start_step": 1882, "end_step": 1971, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand moves the green cubic block downward to fit it onto the rightmost white column of the block tower."}, {"label": "subtasks", "start_step": 1972, "end_step": 2031, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reorient: Right hand lifts the green cubic block slightly upward and adjusts its orientation above the rightmost white column."}, {"label": "subtasks", "start_step": 2032, "end_step": 2197, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand moves the green cubic block downward again to fit it fully onto the rightmost white column of the block tower."}, {"label": "subtasks", "start_step": 2198, "end_step": 2219, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: release_retreat: Right hand releases the green cubic block and moves upward away from the block tower."}, {"label": "home", "start_step": 2234, "end_step": 2266, "id": "5LjoH6pZd2M2mMZQ1laFA"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 37, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_hand_pose: Left hand moves slightly upward and rotates its wrist, adjusting finger posture while remaining empty. | Right hand: reach: Right hand moves leftward and downward toward the green hexagonal block on the black table, with fingers open."}, {"label": "subtasks", "start_step": 38, "end_step": 81, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves leftward and downward toward the green hexagonal block on the black table, with fingers open."}, {"label": "subtasks", "start_step": 82, "end_step": 119, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 120, "end_step": 141, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift: Right hand lifts the green hexagonal block up from the black worktable surface."}, {"label": "subtasks", "start_step": 142, "end_step": 164, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: transport: Right hand transports the green hexagonal block to the position above the leftmost peg of the rack."}, {"label": "subtasks", "start_step": 165, "end_step": 224, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the leftmost peg of the rack by lowering it to fit the hole."}, {"label": "subtasks", "start_step": 225, "end_step": 269, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: hold: Right hand holds the green hexagonal block on the leftmost peg of the rack without moving."}, {"label": "subtasks", "start_step": 270, "end_step": 299, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: release: Right hand releases the white hexagonal block on the leftmost purple peg of the wooden base, with fingers gradually opening and separating from the block."}, {"label": "subtasks", "start_step": 300, "end_step": 321, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves downward and forward to reach the white hexagonal block on the tabletop to the left of the green block."}, {"label": "subtasks", "start_step": 322, "end_step": 367, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the tabletop, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 368, "end_step": 389, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the tabletop and transports it upward and rightward to the top of the leftmost purple peg of the wooden base."}, {"label": "subtasks", "start_step": 390, "end_step": 441, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the leftmost purple peg and inserts it downward along the peg until it reaches the green block below."}, {"label": "subtasks", "start_step": 442, "end_step": 487, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: release: Right hand releases the white hexagonal block on the leftmost purple peg, with fingers opening and separating from the block."}, {"label": "subtasks", "start_step": 488, "end_step": 517, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table surface, with empty hand."}, {"label": "subtasks", "start_step": 518, "end_step": 561, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table surface, with fingers closing and adjusting to form stable grip."}, {"label": "subtasks", "start_step": 562, "end_step": 577, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table and transports it upward and leftward toward the wooden peg rack with purple pegs."}, {"label": "subtasks", "start_step": 578, "end_step": 674, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand mates the white hexagonal nut onto the top-left purple peg of the wooden rack, moving downward continuously to insert the peg through the nut's central hole."}, {"label": "subtasks", "start_step": 675, "end_step": 704, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate_release: Right hand mates the white hexagonal block onto the left purple peg and releases the block."}, {"label": "subtasks", "start_step": 705, "end_step": 727, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 728, "end_step": 779, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table with fingers closing and adjusting."}, {"label": "subtasks", "start_step": 780, "end_step": 794, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift_transport: Right hand lifts the white hollow hexagonal block from the table and moves it to above the middle purple peg of the wooden base."}, {"label": "subtasks", "start_step": 795, "end_step": 884, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate_release: Right hand fits the white hollow hexagonal block onto the middle purple peg and releases the block after it reaches the base."}, {"label": "subtasks", "start_step": 885, "end_step": 907, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: release: Right hand releases the white cylindrical block on the purple peg of the wooden base, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 908, "end_step": 929, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand reaches downward toward the green hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 930, "end_step": 959, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers closing around the block to form a stable grip."}, {"label": "subtasks", "start_step": 960, "end_step": 981, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it upward toward the wooden base with pegs."}, {"label": "subtasks", "start_step": 982, "end_step": 1064, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the front purple peg of the wooden base by aligning the hole and lowering the block onto the peg."}, {"label": "subtasks", "start_step": 1065, "end_step": 1087, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: release: Right hand releases the object on the wooden base, with fingers opening to separate from the object."}, {"label": "subtasks", "start_step": 1088, "end_step": 1109, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal part on the black table, with fingers slightly open."}, {"label": "subtasks", "start_step": 1110, "end_step": 1169, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand grasps the white hexagonal part on the black table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1170, "end_step": 1184, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the black table and transports it to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1185, "end_step": 1349, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod on the wooden base and moves it downward to assemble the block onto the rod."}, {"label": "subtasks", "start_step": 1350, "end_step": 1379, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: release: Right hand releases the purple rod on the wooden base, with fingers gradually opening to separate from the rod."}, {"label": "subtasks", "start_step": 1380, "end_step": 1424, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves downward and rightward toward the upper white hexagonal block on the table, keeping fingers open."}, {"label": "subtasks", "start_step": 1425, "end_step": 1454, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand grasps the upper white hexagonal block on the table, with fingers closing around the block."}, {"label": "subtasks", "start_step": 1455, "end_step": 1484, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1485, "end_step": 1574, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate_release: Right hand aligns the white hexagonal block with the purple rod, fits it onto the rod, and releases the block."}, {"label": "subtasks", "start_step": 1575, "end_step": 1604, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: place_release: Right hand places the white cylindrical block onto the purple rod on the wooden base and releases it."}, {"label": "subtasks", "start_step": 1605, "end_step": 1634, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand reaches toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1635, "end_step": 1664, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing."}, {"label": "subtasks", "start_step": 1665, "end_step": 1687, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1688, "end_step": 1769, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod by aligning and lowering it onto the rod."}, {"label": "subtasks", "start_step": 1770, "end_step": 1784, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: release: Right hand releases the white hexagonal block on the purple rod with fingers opening."}, {"label": "subtasks", "start_step": 1785, "end_step": 1829, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves downward from the right side of the block tower toward the green cubic block on the black table."}, {"label": "subtasks", "start_step": 1830, "end_step": 1851, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green cubic block on the black table."}, {"label": "subtasks", "start_step": 1852, "end_step": 1881, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift_transport: Right hand lifts the green cubic block off the table and transports it upward and leftward to the top of the rightmost column of the block tower."}, {"label": "subtasks", "start_step": 1882, "end_step": 1971, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand moves the green cubic block downward to fit it onto the rightmost white column of the block tower."}, {"label": "subtasks", "start_step": 1972, "end_step": 2031, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reorient: Right hand lifts the green cubic block slightly upward and adjusts its orientation above the rightmost white column."}, {"label": "subtasks", "start_step": 2032, "end_step": 2197, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand moves the green cubic block downward again to fit it fully onto the rightmost white column of the block tower."}, {"label": "subtasks", "start_step": 2198, "end_step": 2219, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: release_retreat: Right hand releases the green cubic block and moves upward away from the block tower."}], "episode_index": 6}
+{"source_uid": "98528affec3c1536", "num_frames": 2187, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 51, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves towards the green block on the black table with fingers extended."}, {"label": "goal", "start_step": 0, "end_step": 156, "id": "bf7bf9e2-6a8d-4f32-8c4f-7c043c776945"}, {"label": "valid", "start_step": 0, "end_step": 2155, "id": "Q2YKsfdq2hJ9Xi3LrmN0S"}, {"label": "subtasks", "start_step": 52, "end_step": 97, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand closes fingers around the green block to establish stable grip."}, {"label": "subtasks", "start_step": 98, "end_step": 149, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: push: Right hand pushes the green block on the table slightly towards the left direction."}, {"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 table without obvious movement. | Right hand: grasp: Right hand adjusts its grip on the green cylindrical object placed on the black table."}, {"label": "goal", "start_step": 157, "end_step": 255, "id": "7e4bf2a7-560a-4b33-9b7c-aa2ff2162aec"}, {"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 table without obvious movement. | Right hand: lift_transport: Right hand lifts the green cylindrical object from the table and moves it toward the purple peg on the wooden base."}, {"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 table without obvious movement. | Right hand: place: Right hand places the green cylindrical object onto the top of the target purple peg."}, {"label": "subtasks", "start_step": 195, "end_step": 284, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: press: Right hand presses the green cylindrical object down along the purple peg to secure it."}, {"label": "goal", "start_step": 256, "end_step": 335, "id": "3241e954-f90a-46d4-bc0c-b97dc0601807"}, {"label": "subtasks", "start_step": 285, "end_step": 307, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves down towards the white hexagonal object on the black table surface."}, {"label": "subtasks", "start_step": 308, "end_step": 351, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal object on the black table surface."}, {"label": "goal", "start_step": 336, "end_step": 482, "id": "fad18594-de7c-4108-b218-dac6bae4db0f"}, {"label": "subtasks", "start_step": 352, "end_step": 374, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the tabletop and transports it to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 375, "end_step": 397, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it onto the top of the rod."}, {"label": "subtasks", "start_step": 398, "end_step": 434, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: press: Right hand presses the white hexagonal block down along the purple rod to the lower position."}, {"label": "subtasks", "start_step": 435, "end_step": 479, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: hold: Right hand holds the white hexagonal block on the purple rod without moving."}, {"label": "subtasks", "start_step": 480, "end_step": 501, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand mates the white cylindrical block onto the purple peg of the wooden base."}, {"label": "goal", "start_step": 483, "end_step": 555, "id": "6e5fd9f8-a21e-4c81-8c2b-14dcd2a81ccc"}, {"label": "subtasks", "start_step": 502, "end_step": 524, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: retreat: Right hand moves downward away from the wooden base towards the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 525, "end_step": 584, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand adjusts its fingers to grasp the white hexagonal block on the black table surface."}, {"label": "goal", "start_step": 556, "end_step": 814, "id": "aa2ca9d5-7d43-4fa4-bed8-3eaeacfc7233"}, {"label": "subtasks", "start_step": 585, "end_step": 607, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it towards the test tube rack."}, {"label": "subtasks", "start_step": 608, "end_step": 727, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand mates the white hexagonal block onto the purple test tube on the test tube rack with adjustment movements."}, {"label": "subtasks", "start_step": 728, "end_step": 757, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: retreat: Right hand retreats from the assembled white hexagonal block towards the adjacent test tube."}, {"label": "subtasks", "start_step": 758, "end_step": 794, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand reaches towards the white hexagonal block on the adjacent test tube of the rack."}, {"label": "subtasks", "start_step": 795, "end_step": 809, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the adjacent test tube of the rack."}, {"label": "subtasks", "start_step": 810, "end_step": 869, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the black table."}, {"label": "goal", "start_step": 815, "end_step": 874, "id": "1c101df9-26fc-420b-9399-8c110ec6b88d"}, {"label": "subtasks", "start_step": 870, "end_step": 884, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the black table."}, {"label": "goal", "start_step": 875, "end_step": 976, "id": "f7645671-5e3c-4a99-9844-b44025668844"}, {"label": "subtasks", "start_step": 885, "end_step": 921, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it towards the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 922, "end_step": 974, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: place: Right hand places the white hexagonal block onto the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 975, "end_step": 997, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: release: Right hand releases the green block on the purple rod of the wooden base and moves downward."}, {"label": "goal", "start_step": 977, "end_step": 1040, "id": "3291030b-fc7c-40c8-9262-42f2eaf7a474"}, {"label": "subtasks", "start_step": 998, "end_step": 1034, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves downward toward the green block placed on the black tabletop."}, {"label": "subtasks", "start_step": 1035, "end_step": 1057, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand closes its fingers to grasp the green block on the black tabletop."}, {"label": "goal", "start_step": 1041, "end_step": 1318, "id": "31a9caa3-799c-427a-9716-2058a5c63750"}, {"label": "subtasks", "start_step": 1058, "end_step": 1079, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the green block from the tabletop and transports it to the top of the target rod on the wooden base."}, {"label": "subtasks", "start_step": 1080, "end_step": 1191, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand aligns the green block with the target rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 1192, "end_step": 1259, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: press: Right hand presses the green block down along the rod to secure its position."}, {"label": "subtasks", "start_step": 1260, "end_step": 1304, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: hold: Right hand holds the green block on the rod without any movement."}, {"label": "subtasks", "start_step": 1305, "end_step": 1341, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: place_release: Right hand places the white cylindrical block onto the peg on top of the green block on the wooden base and releases the block."}, {"label": "goal", "start_step": 1319, "end_step": 1390, "id": "5ffd66c9-8def-493c-828e-d9d3e07fb078"}, {"label": "subtasks", "start_step": 1342, "end_step": 1379, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves downward toward the green block on the black table surface."}, {"label": "subtasks", "start_step": 1380, "end_step": 1409, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table."}, {"label": "goal", "start_step": 1391, "end_step": 1526, "id": "2e712803-f183-40b5-915d-738316063b20"}, {"label": "subtasks", "start_step": 1410, "end_step": 1454, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block and transports it toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1455, "end_step": 1514, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod, adjusting to fit into position."}, {"label": "subtasks", "start_step": 1515, "end_step": 1544, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: place_release: Right hand places the white hexagonal block onto the purple peg of the wooden base and releases the grip on the block."}, {"label": "goal", "start_step": 1527, "end_step": 1592, "id": "cf2b0ba6-a6a8-48ae-83f5-67b58452779f"}, {"label": "subtasks", "start_step": 1545, "end_step": 1589, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves downwards towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1590, "end_step": 1611, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, adjusting fingers to form a stable grip."}, {"label": "goal", "start_step": 1593, "end_step": 1694, "id": "f9d0eb7f-7e1e-46b3-a626-76e83eff8df8"}, {"label": "subtasks", "start_step": 1612, "end_step": 1641, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1642, "end_step": 1694, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod by aligning and lowering it onto the rod."}, {"label": "subtasks", "start_step": 1695, "end_step": 1717, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: release: Right hand releases the white hexagonal block placed on the purple rod of the wooden base."}, {"label": "goal", "start_step": 1695, "end_step": 1764, "id": "8cba6aa3-3678-4f78-a3d9-a2a1da45f245"}, {"label": "subtasks", "start_step": 1718, "end_step": 1754, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1755, "end_step": 1777, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface with fingers closing around the block."}, {"label": "goal", "start_step": 1765, "end_step": 1888, "id": "8b483cb2-ff2e-4e79-a941-7e21d5c21a24"}, {"label": "subtasks", "start_step": 1778, "end_step": 1799, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and transports it upward toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1800, "end_step": 1874, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod by aligning the block's hole with the rod and inserting it down onto the rod."}, {"label": "subtasks", "start_step": 1875, "end_step": 1904, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: place_release: Right hand places the white cylindrical block onto the wooden base and releases the block."}, {"label": "goal", "start_step": 1889, "end_step": 1950, "id": "f5f32d7a-985c-4f55-b1de-60a28f7757ca"}, {"label": "subtasks", "start_step": 1905, "end_step": 1941, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves towards the green square block on the lower right of the table."}, {"label": "subtasks", "start_step": 1942, "end_step": 1949, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand closes its fingers to grasp the green square block on the table."}, {"label": "subtasks", "start_step": 1950, "end_step": 1971, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: hold: Right hand holds the green square block on the right side of the table without moving."}, {"label": "goal", "start_step": 1951, "end_step": 2116, "id": "67a661f2-b6b0-43eb-8bd2-f402f68860c1"}, {"label": "subtasks", "start_step": 1972, "end_step": 2001, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: transport: Right hand transports the green square block towards the rightmost white post on the wooden base."}, {"label": "subtasks", "start_step": 2002, "end_step": 2114, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand mates the green square block onto the rightmost white post on the wooden base."}, {"label": "subtasks", "start_step": 2115, "end_step": 2129, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: release_retreat: Right hand releases the green square block and retreats from the wooden base."}, {"label": "home", "start_step": 2156, "end_step": 2186, "id": "llrVYmFuUAMz9CQ0-drBe"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 51, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves towards the green block on the black table with fingers extended."}, {"label": "subtasks", "start_step": 52, "end_step": 97, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand closes fingers around the green block to establish stable grip."}, {"label": "subtasks", "start_step": 98, "end_step": 149, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: push: Right hand pushes the green block on the table slightly towards the left direction."}, {"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 table without obvious movement. | Right hand: grasp: Right hand adjusts its grip on the green cylindrical object placed on the black table."}, {"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 table without obvious movement. | Right hand: lift_transport: Right hand lifts the green cylindrical object from the table and moves it toward the purple peg on the wooden base."}, {"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 table without obvious movement. | Right hand: place: Right hand places the green cylindrical object onto the top of the target purple peg."}, {"label": "subtasks", "start_step": 195, "end_step": 284, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: press: Right hand presses the green cylindrical object down along the purple peg to secure it."}, {"label": "subtasks", "start_step": 285, "end_step": 307, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves down towards the white hexagonal object on the black table surface."}, {"label": "subtasks", "start_step": 308, "end_step": 351, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal object on the black table surface."}, {"label": "subtasks", "start_step": 352, "end_step": 374, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the tabletop and transports it to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 375, "end_step": 397, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it onto the top of the rod."}, {"label": "subtasks", "start_step": 398, "end_step": 434, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: press: Right hand presses the white hexagonal block down along the purple rod to the lower position."}, {"label": "subtasks", "start_step": 435, "end_step": 479, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: hold: Right hand holds the white hexagonal block on the purple rod without moving."}, {"label": "subtasks", "start_step": 480, "end_step": 501, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand mates the white cylindrical block onto the purple peg of the wooden base."}, {"label": "subtasks", "start_step": 502, "end_step": 524, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: retreat: Right hand moves downward away from the wooden base towards the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 525, "end_step": 584, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand adjusts its fingers to grasp the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 585, "end_step": 607, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it towards the test tube rack."}, {"label": "subtasks", "start_step": 608, "end_step": 727, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand mates the white hexagonal block onto the purple test tube on the test tube rack with adjustment movements."}, {"label": "subtasks", "start_step": 728, "end_step": 757, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: retreat: Right hand retreats from the assembled white hexagonal block towards the adjacent test tube."}, {"label": "subtasks", "start_step": 758, "end_step": 794, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand reaches towards the white hexagonal block on the adjacent test tube of the rack."}, {"label": "subtasks", "start_step": 795, "end_step": 809, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the adjacent test tube of the rack."}, {"label": "subtasks", "start_step": 810, "end_step": 869, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 870, "end_step": 884, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 885, "end_step": 921, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it towards the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 922, "end_step": 974, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: place: Right hand places the white hexagonal block onto the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 975, "end_step": 997, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: release: Right hand releases the green block on the purple rod of the wooden base and moves downward."}, {"label": "subtasks", "start_step": 998, "end_step": 1034, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves downward toward the green block placed on the black tabletop."}, {"label": "subtasks", "start_step": 1035, "end_step": 1057, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand closes its fingers to grasp the green block on the black tabletop."}, {"label": "subtasks", "start_step": 1058, "end_step": 1079, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the green block from the tabletop and transports it to the top of the target rod on the wooden base."}, {"label": "subtasks", "start_step": 1080, "end_step": 1191, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand aligns the green block with the target rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 1192, "end_step": 1259, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: press: Right hand presses the green block down along the rod to secure its position."}, {"label": "subtasks", "start_step": 1260, "end_step": 1304, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: hold: Right hand holds the green block on the rod without any movement."}, {"label": "subtasks", "start_step": 1305, "end_step": 1341, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: place_release: Right hand places the white cylindrical block onto the peg on top of the green block on the wooden base and releases the block."}, {"label": "subtasks", "start_step": 1342, "end_step": 1379, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves downward toward the green block on the black table surface."}, {"label": "subtasks", "start_step": 1380, "end_step": 1409, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 1410, "end_step": 1454, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block and transports it toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1455, "end_step": 1514, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod, adjusting to fit into position."}, {"label": "subtasks", "start_step": 1515, "end_step": 1544, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: place_release: Right hand places the white hexagonal block onto the purple peg of the wooden base and releases the grip on the block."}, {"label": "subtasks", "start_step": 1545, "end_step": 1589, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves downwards towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1590, "end_step": 1611, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 1612, "end_step": 1641, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1642, "end_step": 1694, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod by aligning and lowering it onto the rod."}, {"label": "subtasks", "start_step": 1695, "end_step": 1717, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: release: Right hand releases the white hexagonal block placed on the purple rod of the wooden base."}, {"label": "subtasks", "start_step": 1718, "end_step": 1754, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1755, "end_step": 1777, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface with fingers closing around the block."}, {"label": "subtasks", "start_step": 1778, "end_step": 1799, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and transports it upward toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1800, "end_step": 1874, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod by aligning the block's hole with the rod and inserting it down onto the rod."}, {"label": "subtasks", "start_step": 1875, "end_step": 1904, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: place_release: Right hand places the white cylindrical block onto the wooden base and releases the block."}, {"label": "subtasks", "start_step": 1905, "end_step": 1941, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves towards the green square block on the lower right of the table."}, {"label": "subtasks", "start_step": 1942, "end_step": 1949, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand closes its fingers to grasp the green square block on the table."}, {"label": "subtasks", "start_step": 1950, "end_step": 1971, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: hold: Right hand holds the green square block on the right side of the table without moving."}, {"label": "subtasks", "start_step": 1972, "end_step": 2001, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: transport: Right hand transports the green square block towards the rightmost white post on the wooden base."}, {"label": "subtasks", "start_step": 2002, "end_step": 2114, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand mates the green square block onto the rightmost white post on the wooden base."}, {"label": "subtasks", "start_step": 2115, "end_step": 2129, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: release_retreat: Right hand releases the green square block and retreats from the wooden base."}], "episode_index": 7}
+{"source_uid": "30cc09b0c8d98833", "num_frames": 2050, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 74, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no obvious displacement or interaction with any objects. | Right hand: reach: Right hand moves forward and downward with open fingers from its initial right position toward the green hexagonal nut placed next to the wooden block stand."}, {"label": "goal", "start_step": 0, "end_step": 136, "id": "5c943be5-f088-455b-b630-b8eceac473fd"}, {"label": "valid", "start_step": 0, "end_step": 2016, "id": "rTzzIWirMHBUoCSvbM8U2"}, {"label": "subtasks", "start_step": 75, "end_step": 134, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no obvious displacement or interaction with any objects. | Right hand: grasp: Right hand adjusts finger positions and closes fingers gradually to establish contact and form a grasp on the green hexagonal nut on the table surface."}, {"label": "subtasks", "start_step": 135, "end_step": 164, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no obvious displacement or interaction with any objects. | Right hand: lift: Right hand holds the green hexagonal block and moves upward to lift it completely off the black table surface."}, {"label": "goal", "start_step": 137, "end_step": 260, "id": "eb27bf6d-9722-48e1-a532-7aa687a2478a"}, {"label": "subtasks", "start_step": 165, "end_step": 187, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no obvious displacement or interaction with any objects. | Right hand: transport: Right hand carries the lifted green hexagonal block to position directly above the target purple assembly peg."}, {"label": "subtasks", "start_step": 188, "end_step": 247, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no obvious displacement or interaction with any objects. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple assembly peg and moves downward to fit the block onto the peg."}, {"label": "subtasks", "start_step": 248, "end_step": 254, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no obvious displacement or interaction with any objects. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple assembly peg without observable movement."}, {"label": "subtasks", "start_step": 255, "end_step": 314, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no obvious displacement or interaction with any objects. | Right hand: reach: Right hand moves downward from the wooden peg assembly toward the white hexagonal nut on the black table surface, approaching the target without establishing contact."}, {"label": "goal", "start_step": 261, "end_step": 326, "id": "0fd5432f-2bbc-4c19-aafd-66571c584797"}, {"label": "subtasks", "start_step": 315, "end_step": 351, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no obvious displacement or interaction with any objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table surface to form a stable grasp on the object."}, {"label": "goal", "start_step": 327, "end_step": 486, "id": "fac3d19a-0689-4282-ab76-db98cd0fe079"}, {"label": "subtasks", "start_step": 352, "end_step": 367, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no obvious displacement or interaction with any objects. | Right hand: lift: Right hand lifts the grasped white hexagonal nut vertically upward to fully separate it from the supporting table surface."}, {"label": "subtasks", "start_step": 368, "end_step": 389, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no obvious displacement or interaction with any objects. | Right hand: transport: Right hand moves the grasped white hexagonal nut upward and leftward to position it directly above the leftmost purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 390, "end_step": 479, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no obvious displacement or interaction with any objects. | Right hand: mate: Right hand aligns the white hexagonal nut with the leftmost purple peg, lowers the nut to fit onto the peg, and makes small adjustments to properly seat the nut during assembly."}, {"label": "subtasks", "start_step": 480, "end_step": 531, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no obvious displacement or interaction with any objects. | Right hand: reach: Right hand moves downward and forward from the position above the wooden pegboard toward the front white hexagonal nut on the black work surface, with fingers slightly spread and no contact with the nut yet."}, {"label": "goal", "start_step": 487, "end_step": 566, "id": "5e58da87-5da8-4162-8c53-3b7f707e7fdd"}, {"label": "subtasks", "start_step": 532, "end_step": 584, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no obvious displacement or interaction with any objects. | Right hand: grasp: Right hand contacts the front white hexagonal nut on the black work surface, adjusting finger positions to close around the nut to form a grip, with the nut remaining on the work surface."}, {"label": "goal", "start_step": 567, "end_step": 712, "id": "4b5dc739-6d28-41b3-aa6c-04d5faf59937"}, {"label": "subtasks", "start_step": 585, "end_step": 614, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no obvious displacement or interaction with any objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface, moving it upward to position above the purple rod on the wooden assembly block."}, {"label": "subtasks", "start_step": 615, "end_step": 704, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no obvious displacement or interaction with any objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the top of the purple rod, lowering the nut to seat onto the rod."}, {"label": "subtasks", "start_step": 705, "end_step": 741, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no obvious displacement or interaction with any objects. | Right hand: mate_release: Right hand aligns and fits the white hexagonal block onto the purple peg on the wooden base, releasing grip on the block once it is seated on the peg."}, {"label": "goal", "start_step": 713, "end_step": 780, "id": "529ebd62-475b-45aa-97dc-b495732d02f4"}, {"label": "subtasks", "start_step": 742, "end_step": 757, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no obvious displacement or interaction with any objects. | Right hand: reach: Right hand moves downward while empty toward the nearest white hexagonal block on the table surface, approaching the target block without contact."}, {"label": "subtasks", "start_step": 758, "end_step": 801, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no obvious displacement or interaction with any objects. | Right hand: grasp: Right hand closes fingers around the nearby white hexagonal block on the table, adjusting finger contact positions to establish a stable grip on the block."}, {"label": "goal", "start_step": 781, "end_step": 904, "id": "dc72e92d-d1b3-47ed-b03e-3087ba20c0ea"}, {"label": "subtasks", "start_step": 802, "end_step": 824, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no obvious displacement or interaction with any objects. | Right hand: lift_transport: Right hand lifts the white hexagonal nut completely off the table surface and moves it upward to position directly above the empty purple peg on the wooden base."}, {"label": "subtasks", "start_step": 825, "end_step": 899, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no obvious displacement or interaction with any objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the empty purple peg on the wooden base and lowers the nut to fit onto the peg to establish the assembled connection."}, {"label": "subtasks", "start_step": 900, "end_step": 959, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no obvious displacement or interaction with any objects. | Right hand: reach: Right hand moves downward from the wooden block assembly area toward the green hexagonal nut on the black table surface, fingers slightly spread."}, {"label": "goal", "start_step": 905, "end_step": 978, "id": "d073740c-d2d6-4e28-85f2-9c1a93f2ca10"}, {"label": "subtasks", "start_step": 960, "end_step": 1004, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no obvious displacement or interaction with any objects. | Right hand: grasp: Right hand closes fingers around the green hexagonal nut on the table to establish a stable grip."}, {"label": "goal", "start_step": 979, "end_step": 1110, "id": "45c2b105-6cf0-4ae9-8c10-627d345a3548"}, {"label": "subtasks", "start_step": 1005, "end_step": 1034, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no obvious displacement or interaction with any objects. | Right hand: lift_transport: Right hand lifts the green hexagonal block completely off the table surface, and moves it upward to position above the purple post on the wooden block assembly."}, {"label": "subtasks", "start_step": 1035, "end_step": 1079, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no obvious displacement or interaction with any objects. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple post, and lowers the block to fit snugly onto the post to form the assembly."}, {"label": "subtasks", "start_step": 1080, "end_step": 1109, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no obvious displacement or interaction with any objects. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple post without any visible movement of the hand or the block."}, {"label": "subtasks", "start_step": 1110, "end_step": 1147, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no obvious displacement or interaction with any objects. | Right hand: reach: Right hand moves downward from the area near the wooden pegboard toward the white hexagonal nut resting on the dark table surface adjacent to the green block, making no contact with the nut during this movement."}, {"label": "goal", "start_step": 1111, "end_step": 1188, "id": "b2cc34ba-7891-4233-9691-1978ccf3b669"}, {"label": "subtasks", "start_step": 1148, "end_step": 1207, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no obvious displacement or interaction with any objects. | Right hand: grasp: Right hand contacts the white hexagonal nut on the table, adjusting its finger positions and closing fingers around the nut to establish a grip."}, {"label": "goal", "start_step": 1189, "end_step": 1300, "id": "41fd41d8-9c36-40d1-88f6-7fbce2246647"}, {"label": "subtasks", "start_step": 1208, "end_step": 1229, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no obvious displacement or interaction with any objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block completely off the table surface and moves it toward the purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 1230, "end_step": 1289, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no obvious displacement or interaction with any objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple peg, lowers the block to fit onto the peg, and makes small positional adjustments to seat it properly."}, {"label": "subtasks", "start_step": 1290, "end_step": 1327, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no obvious displacement or interaction with any objects. | Right hand: place_release: Right hand holds the white hexagonal block, moves it downward to seat it onto the corresponding vertical rod on the wooden stand, releasing fingers to separate from the stably supported block."}, {"label": "goal", "start_step": 1301, "end_step": 1374, "id": "4244b62f-d901-417f-9a0a-8e132d85e2d0"}, {"label": "subtasks", "start_step": 1328, "end_step": 1349, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no obvious displacement or interaction with any objects. | Right hand: reach: Right hand moves empty downward and rightward toward the nearest white hexagonal nut resting on the dark table surface adjacent to the wooden stand."}, {"label": "subtasks", "start_step": 1350, "end_step": 1394, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no obvious displacement or interaction with any objects. | Right hand: grasp: Right hand closes fingers around the adjacent white hexagonal nut on the table, adjusting finger contact positions to establish a secure hold on the object."}, {"label": "goal", "start_step": 1375, "end_step": 1488, "id": "5fc0fdf2-9eb2-4198-bc19-c8b45419e1bc"}, {"label": "subtasks", "start_step": 1395, "end_step": 1424, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no obvious displacement or interaction with any objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the table surface and moves it upward to position directly above the purple vertical rod on the wooden block stand."}, {"label": "subtasks", "start_step": 1425, "end_step": 1447, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no obvious displacement or interaction with any objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the top of the purple vertical rod and fits the nut onto the rod to establish the assembly connection."}, {"label": "subtasks", "start_step": 1448, "end_step": 1484, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no obvious displacement or interaction with any objects. | Right hand: place: Right hand lowers the white hexagonal nut along the purple vertical rod until the nut rests securely on the supporting white block at the rod base."}, {"label": "subtasks", "start_step": 1485, "end_step": 1529, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no obvious displacement or interaction with any objects. | Right hand: reach: Right hand moves from the area above the wooden block set down toward the white hexagonal block on the table surface, with fingers slightly open as it approaches the target block."}, {"label": "goal", "start_step": 1489, "end_step": 1552, "id": "01e20e6f-0483-463c-9df2-da800ef399dd"}, {"label": "subtasks", "start_step": 1530, "end_step": 1567, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no obvious displacement or interaction with any objects. | Right hand: grasp: Right hand closes its fingers around the white hexagonal block on the table, making small adjustments to finger positions to form a stable grip on the block."}, {"label": "goal", "start_step": 1553, "end_step": 1708, "id": "bea058c8-7e52-4fb1-ae12-1a73d369c7fc"}, {"label": "subtasks", "start_step": 1568, "end_step": 1604, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no obvious displacement or interaction with any objects. | Right hand: lift_transport: Right hand lifts the white hexagonal block fully off the table surface and moves it upward and leftward to position it directly above the purple rod on the wooden block set."}, {"label": "subtasks", "start_step": 1605, "end_step": 1694, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no obvious displacement or interaction with any objects. | Right hand: mate: Right hand holds the white hexagonal block and makes small positional and rotational adjustments to align the central hole of the block with the purple rod below, preparing to fit the block onto the rod."}, {"label": "subtasks", "start_step": 1695, "end_step": 1724, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no obvious displacement or interaction with any objects. | Right hand: release: Right hand releases the white cylindrical block with purple top inserted in the wooden base, fingers opening and separating from the block."}, {"label": "goal", "start_step": 1709, "end_step": 1770, "id": "dbfc6975-c1d0-443e-a197-1baf12a8a5b0"}, {"label": "subtasks", "start_step": 1725, "end_step": 1754, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no obvious displacement or interaction with any objects. | Right hand: reach: Right hand moves empty downward and rightward toward the green square block placed on the dark table surface."}, {"label": "subtasks", "start_step": 1755, "end_step": 1769, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no obvious displacement or interaction with any objects. | Right hand: grasp: Right hand closes fingers around the green square block on the table surface to form a grasp, with the block remaining on the supporting table."}, {"label": "subtasks", "start_step": 1770, "end_step": 1791, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no obvious displacement or interaction with any objects. | Right hand: hold: Right hand holds the green hollow block steadily on the black table surface without movement."}, {"label": "goal", "start_step": 1771, "end_step": 1978, "id": "90210b0d-e9e2-4469-951f-5ac50bd6b452"}, {"label": "subtasks", "start_step": 1792, "end_step": 1821, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no obvious displacement or interaction with any objects. | Right hand: lift_transport: Right hand lifts the green hollow block off the table surface, transporting it upward and leftward to the position above the target white cylinder on the wooden block holder."}, {"label": "subtasks", "start_step": 1822, "end_step": 1979, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no obvious displacement or interaction with any objects. | Right hand: mate: Right hand aligns the central hole of the green hollow block with the target white cylinder on the wooden holder, moving the block downward to fit the cylinder through the hole."}, {"label": "home", "start_step": 2017, "end_step": 2049, "id": "vg_ezh05FB1z1QzcyGZVW"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 74, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no obvious displacement or interaction with any objects. | Right hand: reach: Right hand moves forward and downward with open fingers from its initial right position toward the green hexagonal nut placed next to the wooden block stand."}, {"label": "subtasks", "start_step": 75, "end_step": 134, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no obvious displacement or interaction with any objects. | Right hand: grasp: Right hand adjusts finger positions and closes fingers gradually to establish contact and form a grasp on the green hexagonal nut on the table surface."}, {"label": "subtasks", "start_step": 135, "end_step": 164, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no obvious displacement or interaction with any objects. | Right hand: lift: Right hand holds the green hexagonal block and moves upward to lift it completely off the black table surface."}, {"label": "subtasks", "start_step": 165, "end_step": 187, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no obvious displacement or interaction with any objects. | Right hand: transport: Right hand carries the lifted green hexagonal block to position directly above the target purple assembly peg."}, {"label": "subtasks", "start_step": 188, "end_step": 247, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no obvious displacement or interaction with any objects. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple assembly peg and moves downward to fit the block onto the peg."}, {"label": "subtasks", "start_step": 248, "end_step": 254, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no obvious displacement or interaction with any objects. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple assembly peg without observable movement."}, {"label": "subtasks", "start_step": 255, "end_step": 314, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no obvious displacement or interaction with any objects. | Right hand: reach: Right hand moves downward from the wooden peg assembly toward the white hexagonal nut on the black table surface, approaching the target without establishing contact."}, {"label": "subtasks", "start_step": 315, "end_step": 351, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no obvious displacement or interaction with any objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table surface to form a stable grasp on the object."}, {"label": "subtasks", "start_step": 352, "end_step": 367, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no obvious displacement or interaction with any objects. | Right hand: lift: Right hand lifts the grasped white hexagonal nut vertically upward to fully separate it from the supporting table surface."}, {"label": "subtasks", "start_step": 368, "end_step": 389, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no obvious displacement or interaction with any objects. | Right hand: transport: Right hand moves the grasped white hexagonal nut upward and leftward to position it directly above the leftmost purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 390, "end_step": 479, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no obvious displacement or interaction with any objects. | Right hand: mate: Right hand aligns the white hexagonal nut with the leftmost purple peg, lowers the nut to fit onto the peg, and makes small adjustments to properly seat the nut during assembly."}, {"label": "subtasks", "start_step": 480, "end_step": 531, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no obvious displacement or interaction with any objects. | Right hand: reach: Right hand moves downward and forward from the position above the wooden pegboard toward the front white hexagonal nut on the black work surface, with fingers slightly spread and no contact with the nut yet."}, {"label": "subtasks", "start_step": 532, "end_step": 584, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no obvious displacement or interaction with any objects. | Right hand: grasp: Right hand contacts the front white hexagonal nut on the black work surface, adjusting finger positions to close around the nut to form a grip, with the nut remaining on the work surface."}, {"label": "subtasks", "start_step": 585, "end_step": 614, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no obvious displacement or interaction with any objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface, moving it upward to position above the purple rod on the wooden assembly block."}, {"label": "subtasks", "start_step": 615, "end_step": 704, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no obvious displacement or interaction with any objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the top of the purple rod, lowering the nut to seat onto the rod."}, {"label": "subtasks", "start_step": 705, "end_step": 741, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no obvious displacement or interaction with any objects. | Right hand: mate_release: Right hand aligns and fits the white hexagonal block onto the purple peg on the wooden base, releasing grip on the block once it is seated on the peg."}, {"label": "subtasks", "start_step": 742, "end_step": 757, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no obvious displacement or interaction with any objects. | Right hand: reach: Right hand moves downward while empty toward the nearest white hexagonal block on the table surface, approaching the target block without contact."}, {"label": "subtasks", "start_step": 758, "end_step": 801, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no obvious displacement or interaction with any objects. | Right hand: grasp: Right hand closes fingers around the nearby white hexagonal block on the table, adjusting finger contact positions to establish a stable grip on the block."}, {"label": "subtasks", "start_step": 802, "end_step": 824, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no obvious displacement or interaction with any objects. | Right hand: lift_transport: Right hand lifts the white hexagonal nut completely off the table surface and moves it upward to position directly above the empty purple peg on the wooden base."}, {"label": "subtasks", "start_step": 825, "end_step": 899, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no obvious displacement or interaction with any objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the empty purple peg on the wooden base and lowers the nut to fit onto the peg to establish the assembled connection."}, {"label": "subtasks", "start_step": 900, "end_step": 959, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no obvious displacement or interaction with any objects. | Right hand: reach: Right hand moves downward from the wooden block assembly area toward the green hexagonal nut on the black table surface, fingers slightly spread."}, {"label": "subtasks", "start_step": 960, "end_step": 1004, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no obvious displacement or interaction with any objects. | Right hand: grasp: Right hand closes fingers around the green hexagonal nut on the table to establish a stable grip."}, {"label": "subtasks", "start_step": 1005, "end_step": 1034, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no obvious displacement or interaction with any objects. | Right hand: lift_transport: Right hand lifts the green hexagonal block completely off the table surface, and moves it upward to position above the purple post on the wooden block assembly."}, {"label": "subtasks", "start_step": 1035, "end_step": 1079, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no obvious displacement or interaction with any objects. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple post, and lowers the block to fit snugly onto the post to form the assembly."}, {"label": "subtasks", "start_step": 1080, "end_step": 1109, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no obvious displacement or interaction with any objects. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple post without any visible movement of the hand or the block."}, {"label": "subtasks", "start_step": 1110, "end_step": 1147, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no obvious displacement or interaction with any objects. | Right hand: reach: Right hand moves downward from the area near the wooden pegboard toward the white hexagonal nut resting on the dark table surface adjacent to the green block, making no contact with the nut during this movement."}, {"label": "subtasks", "start_step": 1148, "end_step": 1207, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no obvious displacement or interaction with any objects. | Right hand: grasp: Right hand contacts the white hexagonal nut on the table, adjusting its finger positions and closing fingers around the nut to establish a grip."}, {"label": "subtasks", "start_step": 1208, "end_step": 1229, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no obvious displacement or interaction with any objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block completely off the table surface and moves it toward the purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 1230, "end_step": 1289, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no obvious displacement or interaction with any objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple peg, lowers the block to fit onto the peg, and makes small positional adjustments to seat it properly."}, {"label": "subtasks", "start_step": 1290, "end_step": 1327, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no obvious displacement or interaction with any objects. | Right hand: place_release: Right hand holds the white hexagonal block, moves it downward to seat it onto the corresponding vertical rod on the wooden stand, releasing fingers to separate from the stably supported block."}, {"label": "subtasks", "start_step": 1328, "end_step": 1349, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no obvious displacement or interaction with any objects. | Right hand: reach: Right hand moves empty downward and rightward toward the nearest white hexagonal nut resting on the dark table surface adjacent to the wooden stand."}, {"label": "subtasks", "start_step": 1350, "end_step": 1394, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no obvious displacement or interaction with any objects. | Right hand: grasp: Right hand closes fingers around the adjacent white hexagonal nut on the table, adjusting finger contact positions to establish a secure hold on the object."}, {"label": "subtasks", "start_step": 1395, "end_step": 1424, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no obvious displacement or interaction with any objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the table surface and moves it upward to position directly above the purple vertical rod on the wooden block stand."}, {"label": "subtasks", "start_step": 1425, "end_step": 1447, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no obvious displacement or interaction with any objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the top of the purple vertical rod and fits the nut onto the rod to establish the assembly connection."}, {"label": "subtasks", "start_step": 1448, "end_step": 1484, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no obvious displacement or interaction with any objects. | Right hand: place: Right hand lowers the white hexagonal nut along the purple vertical rod until the nut rests securely on the supporting white block at the rod base."}, {"label": "subtasks", "start_step": 1485, "end_step": 1529, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no obvious displacement or interaction with any objects. | Right hand: reach: Right hand moves from the area above the wooden block set down toward the white hexagonal block on the table surface, with fingers slightly open as it approaches the target block."}, {"label": "subtasks", "start_step": 1530, "end_step": 1567, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no obvious displacement or interaction with any objects. | Right hand: grasp: Right hand closes its fingers around the white hexagonal block on the table, making small adjustments to finger positions to form a stable grip on the block."}, {"label": "subtasks", "start_step": 1568, "end_step": 1604, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no obvious displacement or interaction with any objects. | Right hand: lift_transport: Right hand lifts the white hexagonal block fully off the table surface and moves it upward and leftward to position it directly above the purple rod on the wooden block set."}, {"label": "subtasks", "start_step": 1605, "end_step": 1694, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no obvious displacement or interaction with any objects. | Right hand: mate: Right hand holds the white hexagonal block and makes small positional and rotational adjustments to align the central hole of the block with the purple rod below, preparing to fit the block onto the rod."}, {"label": "subtasks", "start_step": 1695, "end_step": 1724, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no obvious displacement or interaction with any objects. | Right hand: release: Right hand releases the white cylindrical block with purple top inserted in the wooden base, fingers opening and separating from the block."}, {"label": "subtasks", "start_step": 1725, "end_step": 1754, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no obvious displacement or interaction with any objects. | Right hand: reach: Right hand moves empty downward and rightward toward the green square block placed on the dark table surface."}, {"label": "subtasks", "start_step": 1755, "end_step": 1769, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no obvious displacement or interaction with any objects. | Right hand: grasp: Right hand closes fingers around the green square block on the table surface to form a grasp, with the block remaining on the supporting table."}, {"label": "subtasks", "start_step": 1770, "end_step": 1791, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no obvious displacement or interaction with any objects. | Right hand: hold: Right hand holds the green hollow block steadily on the black table surface without movement."}, {"label": "subtasks", "start_step": 1792, "end_step": 1821, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no obvious displacement or interaction with any objects. | Right hand: lift_transport: Right hand lifts the green hollow block off the table surface, transporting it upward and leftward to the position above the target white cylinder on the wooden block holder."}, {"label": "subtasks", "start_step": 1822, "end_step": 1979, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no obvious displacement or interaction with any objects. | Right hand: mate: Right hand aligns the central hole of the green hollow block with the target white cylinder on the wooden holder, moving the block downward to fit the cylinder through the hole."}], "episode_index": 8}
+{"source_uid": "eab94319533592eb", "num_frames": 2670, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 104, "id": "reasoning-language-00001", "text": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: reach: Right hand moves leftward and downward from the right side of the workbench toward the green hexagonal block on the left lower part of the table."}, {"label": "goal", "start_step": 0, "end_step": 202, "id": "9b86e8db-2f96-4cc5-a6c9-0089f6103dd3"}, {"label": "valid", "start_step": 0, "end_step": 2636, "id": "yMnS-YtA_WqSbZ0nT4b8M"}, {"label": "subtasks", "start_step": 105, "end_step": 277, "id": "reasoning-language-00002", "text": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: grasp: Right hand grasps the green hexagonal block on the left lower part of the table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 203, "end_step": 378, "id": "5a9edaa8-7fa9-4251-9bf3-c6d48510462e"}, {"label": "subtasks", "start_step": 278, "end_step": 291, "id": "reasoning-language-00003", "text": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: lift: Right hand lifts the green hexagonal block upward away from the table surface."}, {"label": "subtasks", "start_step": 292, "end_step": 321, "id": "reasoning-language-00004", "text": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: transport: Right hand transports the green hexagonal block to the position above the leftmost purple peg of the wooden rack."}, {"label": "subtasks", "start_step": 322, "end_step": 367, "id": "reasoning-language-00005", "text": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: mate: Right hand mates the green hexagonal block onto the leftmost purple peg of the wooden rack by lowering it and fitting its hole over the peg."}, {"label": "subtasks", "start_step": 368, "end_step": 374, "id": "reasoning-language-00006", "text": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: hold: Right hand holds the green hexagonal block on the leftmost purple peg of the wooden rack without moving."}, {"label": "subtasks", "start_step": 375, "end_step": 404, "id": "reasoning-language-00007", "text": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: mate_release: Right hand mates the white hexagonal ring onto the left green peg of the pegboard and releases its grip."}, {"label": "goal", "start_step": 379, "end_step": 456, "id": "51ceab88-d0f2-438d-9b5b-c60fce919345"}, {"label": "subtasks", "start_step": 405, "end_step": 427, "id": "reasoning-language-00008", "text": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: reach: Right hand moves down and left toward the white hexagonal ring on the table."}, {"label": "subtasks", "start_step": 428, "end_step": 479, "id": "reasoning-language-00009", "text": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: grasp: Right hand grasps the white hexagonal ring on the table, with fingers adjusting to secure the grip."}, {"label": "goal", "start_step": 457, "end_step": 586, "id": "74e8a2fa-a6a1-44d4-83be-d5ca65f39c44"}, {"label": "subtasks", "start_step": 480, "end_step": 494, "id": "reasoning-language-00010", "text": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: lift_transport: Right hand lifts and transports the white hexagonal block from the table surface to the position above the leftmost purple rod."}, {"label": "subtasks", "start_step": 495, "end_step": 554, "id": "reasoning-language-00011", "text": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: mate: Right hand mates the white hexagonal block with the leftmost purple rod by aligning and inserting it downward along the rod."}, {"label": "subtasks", "start_step": 555, "end_step": 584, "id": "reasoning-language-00012", "text": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: hold: Right hand holds the white hexagonal block fitted on the leftmost purple rod without moving."}, {"label": "subtasks", "start_step": 585, "end_step": 607, "id": "reasoning-language-00013", "text": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: mate_release: Right hand mates the white cylindrical block onto the front-left purple peg and releases its grip on the block."}, {"label": "goal", "start_step": 587, "end_step": 666, "id": "97f700ec-0473-42fb-b3d1-2e6f561f6dbc"}, {"label": "subtasks", "start_step": 608, "end_step": 637, "id": "reasoning-language-00014", "text": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 638, "end_step": 681, "id": "reasoning-language-00015", "text": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing around it."}, {"label": "goal", "start_step": 667, "end_step": 858, "id": "8837e4e7-6a21-4f56-bbf6-b12217fd212d"}, {"label": "subtasks", "start_step": 682, "end_step": 704, "id": "reasoning-language-00016", "text": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table while transporting it toward the peg rack on the right."}, {"label": "subtasks", "start_step": 705, "end_step": 824, "id": "reasoning-language-00017", "text": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: mate: Right hand mates the white hexagonal block with the leftmost peg of the rack, adjusting the block to fit onto the peg completely."}, {"label": "subtasks", "start_step": 825, "end_step": 847, "id": "reasoning-language-00018", "text": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: release: Right hand releases the white hexagonal block on the peg, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 848, "end_step": 854, "id": "reasoning-language-00019", "text": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: retreat: Right hand retreats upward and away from the peg rack after releasing the block."}, {"label": "subtasks", "start_step": 855, "end_step": 891, "id": "reasoning-language-00020", "text": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: reach: Right hand moves downward from the rack toward the white hexagonal block on the table."}, {"label": "goal", "start_step": 859, "end_step": 1150, "id": "a8950d52-2246-4a9e-873b-49cb03e36b38"}, {"label": "subtasks", "start_step": 892, "end_step": 937, "id": "reasoning-language-00021", "text": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing and adjusting the grip."}, {"label": "subtasks", "start_step": 938, "end_step": 1041, "id": "reasoning-language-00022", "text": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: push: Right hand pushes the white hexagonal block forward on the table surface toward the rack."}, {"label": "subtasks", "start_step": 1042, "end_step": 1064, "id": "reasoning-language-00023", "text": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: release: Right hand releases the white hexagonal block, with fingers opening and separating from the block."}, {"label": "subtasks", "start_step": 1065, "end_step": 1094, "id": "reasoning-language-00024", "text": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: reach: Right hand moves upward toward the white block on the right purple peg of the rack."}, {"label": "subtasks", "start_step": 1095, "end_step": 1139, "id": "reasoning-language-00025", "text": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: grasp_press: Right hand grasps and presses down the white block on the right purple peg of the rack."}, {"label": "subtasks", "start_step": 1140, "end_step": 1169, "id": "reasoning-language-00026", "text": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table near the wooden rack, with fingers closing to adjust the grip while the block stays on the table."}, {"label": "goal", "start_step": 1151, "end_step": 1350, "id": "493b9da0-5205-4db2-a1bf-bf0b740fb457"}, {"label": "subtasks", "start_step": 1170, "end_step": 1191, "id": "reasoning-language-00027", "text": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it upward and rightward to the position above the purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 1192, "end_step": 1267, "id": "reasoning-language-00028", "text": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: mate: Right hand mates the white hexagonal block with the purple peg on the wooden rack, lowering the block onto the peg until it is supported by the lower block on the peg."}, {"label": "subtasks", "start_step": 1268, "end_step": 1327, "id": "reasoning-language-00029", "text": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple peg of the wooden rack without moving."}, {"label": "subtasks", "start_step": 1328, "end_step": 1349, "id": "reasoning-language-00030", "text": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: release: Right hand releases the white hexagonal block on the purple peg, with fingers opening and moving slightly away from the block."}, {"label": "subtasks", "start_step": 1350, "end_step": 1387, "id": "reasoning-language-00031", "text": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: reach: Right hand reaches downward toward the green hexagonal block on the black table without making contact."}, {"label": "goal", "start_step": 1351, "end_step": 1418, "id": "3b981d29-5887-4e41-b2d1-99c46c1bbd19"}, {"label": "subtasks", "start_step": 1388, "end_step": 1439, "id": "reasoning-language-00032", "text": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table, with fingers closing and adjusting to form a stable grip."}, {"label": "goal", "start_step": 1419, "end_step": 1566, "id": "81dbe4ed-2a46-4fe8-91c6-b459976304d6"}, {"label": "subtasks", "start_step": 1440, "end_step": 1461, "id": "reasoning-language-00033", "text": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: lift_transport: Right hand lifts and transports the green hexagonal block from the table upward to the position above the target peg on the wooden board."}, {"label": "subtasks", "start_step": 1462, "end_step": 1559, "id": "reasoning-language-00034", "text": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: mate: Right hand mates the green hexagonal block with the target peg by aligning and inserting it downward onto the peg until the block is supported by the white block below."}, {"label": "subtasks", "start_step": 1560, "end_step": 1589, "id": "reasoning-language-00035", "text": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: release: Right hand releases the green hexagonal block on the peg, with fingers opening to separate from the block."}, {"label": "goal", "start_step": 1567, "end_step": 1628, "id": "b318c28d-971f-47a0-b8a2-1334bb485920"}, {"label": "subtasks", "start_step": 1590, "end_step": 1634, "id": "reasoning-language-00036", "text": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the black table surface."}, {"label": "goal", "start_step": 1629, "end_step": 1758, "id": "2fe78e7b-e5e6-44eb-9b70-c4dfb3009cc7"}, {"label": "subtasks", "start_step": 1635, "end_step": 1649, "id": "reasoning-language-00037", "text": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface with fingers closing."}, {"label": "subtasks", "start_step": 1650, "end_step": 1664, "id": "reasoning-language-00038", "text": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: lift: Right hand lifts the white hexagonal block upward until it leaves the black table surface."}, {"label": "subtasks", "start_step": 1665, "end_step": 1679, "id": "reasoning-language-00039", "text": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: transport: Right hand transports the white hexagonal block upward to the position above the wooden rack's peg."}, {"label": "subtasks", "start_step": 1680, "end_step": 1747, "id": "reasoning-language-00040", "text": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: mate: Right hand mates the white hexagonal block onto the wooden rack's peg by aligning and lowering it onto the peg."}, {"label": "subtasks", "start_step": 1748, "end_step": 1754, "id": "reasoning-language-00041", "text": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: release: Right hand releases the white hexagonal block on the wooden rack's peg, with fingers opening."}, {"label": "subtasks", "start_step": 1755, "end_step": 1777, "id": "reasoning-language-00042", "text": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: press: Right hand presses the white cylindrical part on the purple rod downward to adjust its position."}, {"label": "goal", "start_step": 1759, "end_step": 1820, "id": "3493fd0e-2591-41ac-9050-3390b4ddbbe2"}, {"label": "subtasks", "start_step": 1778, "end_step": 1814, "id": "reasoning-language-00043", "text": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: reach: Right hand moves downward toward the white hexagonal part on the black table surface."}, {"label": "subtasks", "start_step": 1815, "end_step": 1844, "id": "reasoning-language-00044", "text": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: grasp: Right hand grasps the white hexagonal part on the black table surface with fingers closing."}, {"label": "goal", "start_step": 1821, "end_step": 2058, "id": "f374caea-11fe-4bb0-b68a-1107384400c7"}, {"label": "subtasks", "start_step": 1845, "end_step": 1874, "id": "reasoning-language-00045", "text": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: lift_transport: Right hand lifts the white hexagonal part from the table surface and moves it upward toward the purple rod."}, {"label": "subtasks", "start_step": 1875, "end_step": 2024, "id": "reasoning-language-00046", "text": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: mate: Right hand aligns the white hexagonal part with the purple rod, fits it onto the rod, and presses it down to complete assembly."}, {"label": "subtasks", "start_step": 2025, "end_step": 2054, "id": "reasoning-language-00047", "text": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: release: Right hand releases the white hexagonal part on the purple rod with fingers opening."}, {"label": "subtasks", "start_step": 2055, "end_step": 2069, "id": "reasoning-language-00048", "text": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: idle: Right hand remains empty beside the purple rod without moving."}, {"label": "goal", "start_step": 2059, "end_step": 2132, "id": "2ba76a32-bead-41f4-829f-4add2af173dd"}, {"label": "subtasks", "start_step": 2070, "end_step": 2084, "id": "reasoning-language-00049", "text": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: place_release: Right hand places the white cylindrical block onto the purple rod on the wooden base and releases the block."}, {"label": "subtasks", "start_step": 2085, "end_step": 2107, "id": "reasoning-language-00050", "text": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 2108, "end_step": 2159, "id": "reasoning-language-00051", "text": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table with fingers closing around it."}, {"label": "goal", "start_step": 2133, "end_step": 2272, "id": "98a22b8d-1e98-47b6-9e16-8a4ca5e079fb"}, {"label": "subtasks", "start_step": 2160, "end_step": 2189, "id": "reasoning-language-00052", "text": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it to the position above the purple post on the wooden rack."}, {"label": "subtasks", "start_step": 2190, "end_step": 2241, "id": "reasoning-language-00053", "text": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: mate: Right hand mates the white hexagonal block with the purple post on the rack by aligning and lowering it onto the post."}, {"label": "subtasks", "start_step": 2242, "end_step": 2301, "id": "reasoning-language-00054", "text": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: release: Right hand releases the white hexagonal block on the purple post by opening its fingers."}, {"label": "goal", "start_step": 2273, "end_step": 2338, "id": "72a489b1-5482-4dd4-923c-0d64bd613a8d"}, {"label": "subtasks", "start_step": 2302, "end_step": 2339, "id": "reasoning-language-00055", "text": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: reach: Right hand moves downward toward the green cubic block on the right side of the table, with fingers slightly open."}, {"label": "goal", "start_step": 2339, "end_step": 2600, "id": "46231e2d-242e-485e-b15f-bbccbdcb8e19"}, {"label": "subtasks", "start_step": 2340, "end_step": 2354, "id": "reasoning-language-00056", "text": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: grasp: Right hand grasps the green cubic block on the table, with fingers closing around the block."}, {"label": "subtasks", "start_step": 2355, "end_step": 2391, "id": "reasoning-language-00057", "text": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: lift_transport: Right hand lifts the green cubic block off the table and transports it upward and leftward toward the front-right white bottle on the wooden tray."}, {"label": "subtasks", "start_step": 2392, "end_step": 2444, "id": "reasoning-language-00058", "text": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: mate: Right hand aligns the green cubic block with the front-right white bottle and fits it onto the bottle to complete the assembly."}, {"label": "subtasks", "start_step": 2445, "end_step": 2564, "id": "reasoning-language-00059", "text": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: press: Right hand presses down on the green cubic block on the front-right bottle, applying downward force to push the bottle down until it is level with adjacent bottles."}, {"label": "subtasks", "start_step": 2565, "end_step": 2609, "id": "reasoning-language-00060", "text": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: release: Right hand releases the green cubic block on the front-right bottle, with fingers opening and moving away from the block."}, {"label": "home", "start_step": 2637, "end_step": 2669, "id": "j0NPT93LG3Nxy_RBOHlw5"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 104, "id": "reasoning-language-00001", "text": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: reach: Right hand moves leftward and downward from the right side of the workbench toward the green hexagonal block on the left lower part of the table."}, {"label": "subtasks", "start_step": 105, "end_step": 277, "id": "reasoning-language-00002", "text": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: grasp: Right hand grasps the green hexagonal block on the left lower part of the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 278, "end_step": 291, "id": "reasoning-language-00003", "text": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: lift: Right hand lifts the green hexagonal block upward away from the table surface."}, {"label": "subtasks", "start_step": 292, "end_step": 321, "id": "reasoning-language-00004", "text": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: transport: Right hand transports the green hexagonal block to the position above the leftmost purple peg of the wooden rack."}, {"label": "subtasks", "start_step": 322, "end_step": 367, "id": "reasoning-language-00005", "text": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: mate: Right hand mates the green hexagonal block onto the leftmost purple peg of the wooden rack by lowering it and fitting its hole over the peg."}, {"label": "subtasks", "start_step": 368, "end_step": 374, "id": "reasoning-language-00006", "text": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: hold: Right hand holds the green hexagonal block on the leftmost purple peg of the wooden rack without moving."}, {"label": "subtasks", "start_step": 375, "end_step": 404, "id": "reasoning-language-00007", "text": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: mate_release: Right hand mates the white hexagonal ring onto the left green peg of the pegboard and releases its grip."}, {"label": "subtasks", "start_step": 405, "end_step": 427, "id": "reasoning-language-00008", "text": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: reach: Right hand moves down and left toward the white hexagonal ring on the table."}, {"label": "subtasks", "start_step": 428, "end_step": 479, "id": "reasoning-language-00009", "text": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: grasp: Right hand grasps the white hexagonal ring on the table, with fingers adjusting to secure the grip."}, {"label": "subtasks", "start_step": 480, "end_step": 494, "id": "reasoning-language-00010", "text": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: lift_transport: Right hand lifts and transports the white hexagonal block from the table surface to the position above the leftmost purple rod."}, {"label": "subtasks", "start_step": 495, "end_step": 554, "id": "reasoning-language-00011", "text": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: mate: Right hand mates the white hexagonal block with the leftmost purple rod by aligning and inserting it downward along the rod."}, {"label": "subtasks", "start_step": 555, "end_step": 584, "id": "reasoning-language-00012", "text": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: hold: Right hand holds the white hexagonal block fitted on the leftmost purple rod without moving."}, {"label": "subtasks", "start_step": 585, "end_step": 607, "id": "reasoning-language-00013", "text": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: mate_release: Right hand mates the white cylindrical block onto the front-left purple peg and releases its grip on the block."}, {"label": "subtasks", "start_step": 608, "end_step": 637, "id": "reasoning-language-00014", "text": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 638, "end_step": 681, "id": "reasoning-language-00015", "text": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing around it."}, {"label": "subtasks", "start_step": 682, "end_step": 704, "id": "reasoning-language-00016", "text": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table while transporting it toward the peg rack on the right."}, {"label": "subtasks", "start_step": 705, "end_step": 824, "id": "reasoning-language-00017", "text": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: mate: Right hand mates the white hexagonal block with the leftmost peg of the rack, adjusting the block to fit onto the peg completely."}, {"label": "subtasks", "start_step": 825, "end_step": 847, "id": "reasoning-language-00018", "text": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: release: Right hand releases the white hexagonal block on the peg, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 848, "end_step": 854, "id": "reasoning-language-00019", "text": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: retreat: Right hand retreats upward and away from the peg rack after releasing the block."}, {"label": "subtasks", "start_step": 855, "end_step": 891, "id": "reasoning-language-00020", "text": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: reach: Right hand moves downward from the rack toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 892, "end_step": 937, "id": "reasoning-language-00021", "text": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing and adjusting the grip."}, {"label": "subtasks", "start_step": 938, "end_step": 1041, "id": "reasoning-language-00022", "text": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: push: Right hand pushes the white hexagonal block forward on the table surface toward the rack."}, {"label": "subtasks", "start_step": 1042, "end_step": 1064, "id": "reasoning-language-00023", "text": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: release: Right hand releases the white hexagonal block, with fingers opening and separating from the block."}, {"label": "subtasks", "start_step": 1065, "end_step": 1094, "id": "reasoning-language-00024", "text": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: reach: Right hand moves upward toward the white block on the right purple peg of the rack."}, {"label": "subtasks", "start_step": 1095, "end_step": 1139, "id": "reasoning-language-00025", "text": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: grasp_press: Right hand grasps and presses down the white block on the right purple peg of the rack."}, {"label": "subtasks", "start_step": 1140, "end_step": 1169, "id": "reasoning-language-00026", "text": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table near the wooden rack, with fingers closing to adjust the grip while the block stays on the table."}, {"label": "subtasks", "start_step": 1170, "end_step": 1191, "id": "reasoning-language-00027", "text": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it upward and rightward to the position above the purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 1192, "end_step": 1267, "id": "reasoning-language-00028", "text": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: mate: Right hand mates the white hexagonal block with the purple peg on the wooden rack, lowering the block onto the peg until it is supported by the lower block on the peg."}, {"label": "subtasks", "start_step": 1268, "end_step": 1327, "id": "reasoning-language-00029", "text": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple peg of the wooden rack without moving."}, {"label": "subtasks", "start_step": 1328, "end_step": 1349, "id": "reasoning-language-00030", "text": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: release: Right hand releases the white hexagonal block on the purple peg, with fingers opening and moving slightly away from the block."}, {"label": "subtasks", "start_step": 1350, "end_step": 1387, "id": "reasoning-language-00031", "text": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: reach: Right hand reaches downward toward the green hexagonal block on the black table without making contact."}, {"label": "subtasks", "start_step": 1388, "end_step": 1439, "id": "reasoning-language-00032", "text": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1440, "end_step": 1461, "id": "reasoning-language-00033", "text": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: lift_transport: Right hand lifts and transports the green hexagonal block from the table upward to the position above the target peg on the wooden board."}, {"label": "subtasks", "start_step": 1462, "end_step": 1559, "id": "reasoning-language-00034", "text": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: mate: Right hand mates the green hexagonal block with the target peg by aligning and inserting it downward onto the peg until the block is supported by the white block below."}, {"label": "subtasks", "start_step": 1560, "end_step": 1589, "id": "reasoning-language-00035", "text": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: release: Right hand releases the green hexagonal block on the peg, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 1590, "end_step": 1634, "id": "reasoning-language-00036", "text": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1635, "end_step": 1649, "id": "reasoning-language-00037", "text": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface with fingers closing."}, {"label": "subtasks", "start_step": 1650, "end_step": 1664, "id": "reasoning-language-00038", "text": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: lift: Right hand lifts the white hexagonal block upward until it leaves the black table surface."}, {"label": "subtasks", "start_step": 1665, "end_step": 1679, "id": "reasoning-language-00039", "text": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: transport: Right hand transports the white hexagonal block upward to the position above the wooden rack's peg."}, {"label": "subtasks", "start_step": 1680, "end_step": 1747, "id": "reasoning-language-00040", "text": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: mate: Right hand mates the white hexagonal block onto the wooden rack's peg by aligning and lowering it onto the peg."}, {"label": "subtasks", "start_step": 1748, "end_step": 1754, "id": "reasoning-language-00041", "text": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: release: Right hand releases the white hexagonal block on the wooden rack's peg, with fingers opening."}, {"label": "subtasks", "start_step": 1755, "end_step": 1777, "id": "reasoning-language-00042", "text": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: press: Right hand presses the white cylindrical part on the purple rod downward to adjust its position."}, {"label": "subtasks", "start_step": 1778, "end_step": 1814, "id": "reasoning-language-00043", "text": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: reach: Right hand moves downward toward the white hexagonal part on the black table surface."}, {"label": "subtasks", "start_step": 1815, "end_step": 1844, "id": "reasoning-language-00044", "text": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: grasp: Right hand grasps the white hexagonal part on the black table surface with fingers closing."}, {"label": "subtasks", "start_step": 1845, "end_step": 1874, "id": "reasoning-language-00045", "text": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: lift_transport: Right hand lifts the white hexagonal part from the table surface and moves it upward toward the purple rod."}, {"label": "subtasks", "start_step": 1875, "end_step": 2024, "id": "reasoning-language-00046", "text": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: mate: Right hand aligns the white hexagonal part with the purple rod, fits it onto the rod, and presses it down to complete assembly."}, {"label": "subtasks", "start_step": 2025, "end_step": 2054, "id": "reasoning-language-00047", "text": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: release: Right hand releases the white hexagonal part on the purple rod with fingers opening."}, {"label": "subtasks", "start_step": 2055, "end_step": 2069, "id": "reasoning-language-00048", "text": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: idle: Right hand remains empty beside the purple rod without moving."}, {"label": "subtasks", "start_step": 2070, "end_step": 2084, "id": "reasoning-language-00049", "text": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: place_release: Right hand places the white cylindrical block onto the purple rod on the wooden base and releases the block."}, {"label": "subtasks", "start_step": 2085, "end_step": 2107, "id": "reasoning-language-00050", "text": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 2108, "end_step": 2159, "id": "reasoning-language-00051", "text": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table with fingers closing around it."}, {"label": "subtasks", "start_step": 2160, "end_step": 2189, "id": "reasoning-language-00052", "text": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it to the position above the purple post on the wooden rack."}, {"label": "subtasks", "start_step": 2190, "end_step": 2241, "id": "reasoning-language-00053", "text": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: mate: Right hand mates the white hexagonal block with the purple post on the rack by aligning and lowering it onto the post."}, {"label": "subtasks", "start_step": 2242, "end_step": 2301, "id": "reasoning-language-00054", "text": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: release: Right hand releases the white hexagonal block on the purple post by opening its fingers."}, {"label": "subtasks", "start_step": 2302, "end_step": 2339, "id": "reasoning-language-00055", "text": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: reach: Right hand moves downward toward the green cubic block on the right side of the table, with fingers slightly open."}, {"label": "subtasks", "start_step": 2340, "end_step": 2354, "id": "reasoning-language-00056", "text": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: grasp: Right hand grasps the green cubic block on the table, with fingers closing around the block."}, {"label": "subtasks", "start_step": 2355, "end_step": 2391, "id": "reasoning-language-00057", "text": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: lift_transport: Right hand lifts the green cubic block off the table and transports it upward and leftward toward the front-right white bottle on the wooden tray."}, {"label": "subtasks", "start_step": 2392, "end_step": 2444, "id": "reasoning-language-00058", "text": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: mate: Right hand aligns the green cubic block with the front-right white bottle and fits it onto the bottle to complete the assembly."}, {"label": "subtasks", "start_step": 2445, "end_step": 2564, "id": "reasoning-language-00059", "text": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: press: Right hand presses down on the green cubic block on the front-right bottle, applying downward force to push the bottle down until it is level with adjacent bottles."}, {"label": "subtasks", "start_step": 2565, "end_step": 2609, "id": "reasoning-language-00060", "text": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: release: Right hand releases the green cubic block on the front-right bottle, with fingers opening and moving away from the block."}], "episode_index": 9}
+{"source_uid": "d24f1ea07f1559df", "num_frames": 3423, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 44, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves toward the green cube located on the black table in front of the wooden block base."}, {"label": "goal", "start_step": 0, "end_step": 226, "id": "963289ff-51b2-4c90-8556-b1674082ab1a"}, {"label": "valid", "start_step": 0, "end_step": 3391, "id": "61oYmWhyGnrVz-gZY6Wzu"}, {"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 operation area without moving. | Right hand: grasp: Right hand closes its fingers around the green cube to form a stable grasp."}, {"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 operation area without moving. | Right hand: lift: Right hand lifts the green cube upward away from the black table surface."}, {"label": "subtasks", "start_step": 120, "end_step": 187, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: transport: Right hand carries the green cube toward the leftmost purple rod on the wooden base."}, {"label": "subtasks", "start_step": 188, "end_step": 224, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand aligns the green cube with the leftmost purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 225, "end_step": 247, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand adjusts fingers to form a stable grip on the green block placed on the black table."}, {"label": "goal", "start_step": 227, "end_step": 346, "id": "7ba8038f-b96e-4fb0-88fd-1311a9de6547"}, {"label": "subtasks", "start_step": 248, "end_step": 277, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it to the position above the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 278, "end_step": 344, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand aligns the green block with the leftmost purple peg and inserts it down onto the peg to complete assembly."}, {"label": "subtasks", "start_step": 345, "end_step": 374, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the table surface."}, {"label": "goal", "start_step": 347, "end_step": 404, "id": "6781b263-9753-4e08-97dd-8a051f280450"}, {"label": "subtasks", "start_step": 375, "end_step": 419, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block, adjusting grip to stabilize the object."}, {"label": "goal", "start_step": 405, "end_step": 592, "id": "462f5467-c801-41a3-8619-351ea5a2f104"}, {"label": "subtasks", "start_step": 420, "end_step": 434, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift: Right hand lifts the white hexagonal block upward until it completely leaves the table surface."}, {"label": "subtasks", "start_step": 435, "end_step": 494, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: transport: Right hand transports the white hexagonal block upward to the position above the leftmost purple rod on the wooden base."}, {"label": "subtasks", "start_step": 495, "end_step": 547, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: place: Right hand places the white hexagonal block downward onto the leftmost purple rod until the block is supported by the rod."}, {"label": "subtasks", "start_step": 548, "end_step": 584, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: press: Right hand presses the white hexagonal block downward along the purple rod to fix it in place."}, {"label": "subtasks", "start_step": 585, "end_step": 614, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the vertical post of the wooden base."}, {"label": "goal", "start_step": 593, "end_step": 674, "id": "03310ba7-d607-4642-a9ff-0ff994a51c52"}, {"label": "subtasks", "start_step": 615, "end_step": 621, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: release: Right hand releases the white hexagonal block placed on the post."}, {"label": "subtasks", "start_step": 622, "end_step": 659, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand reaches downward towards the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 660, "end_step": 674, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 675, "end_step": 697, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift: Right hand lifts the white hexagonal block from the black table surface."}, {"label": "goal", "start_step": 675, "end_step": 822, "id": "9255d678-751d-4b50-9f59-51e6ebf77f5a"}, {"label": "subtasks", "start_step": 698, "end_step": 711, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: transport: Right hand transports the white hexagonal block towards the wooden rack with purple rods."}, {"label": "subtasks", "start_step": 712, "end_step": 809, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the leftmost purple rod of the wooden rack."}, {"label": "subtasks", "start_step": 810, "end_step": 861, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves downwards to reach the white hexagonal block placed on the table in front of the pegboard."}, {"label": "goal", "start_step": 823, "end_step": 1230, "id": "e311fa6a-5c3b-4052-8f8c-8e19926d88e9"}, {"label": "subtasks", "start_step": 862, "end_step": 884, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 885, "end_step": 1011, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand holds the white hexagonal block and aligns it to the purple post on the pegboard for assembly."}, {"label": "subtasks", "start_step": 1012, "end_step": 1101, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: release: Right hand opens its fingers to release the white hexagonal block on the purple post."}, {"label": "subtasks", "start_step": 1102, "end_step": 1131, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves towards the tilted white hexagonal block on the purple post."}, {"label": "subtasks", "start_step": 1132, "end_step": 1229, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand adjusts the tilted white hexagonal block and fits it properly onto the purple post."}, {"label": "subtasks", "start_step": 1230, "end_step": 1259, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table near the wooden rack."}, {"label": "goal", "start_step": 1231, "end_step": 1374, "id": "6508e33b-3790-4009-9910-f36c16f204f2"}, {"label": "subtasks", "start_step": 1260, "end_step": 1274, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1275, "end_step": 1364, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 1365, "end_step": 1401, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: release: Right hand releases the white cylindrical block placed on the peg of the wooden base."}, {"label": "goal", "start_step": 1375, "end_step": 1438, "id": "7deb6e4f-8396-4329-bfdd-013f4e0d24b2"}, {"label": "subtasks", "start_step": 1402, "end_step": 1431, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves downward toward the green square block on the black tabletop."}, {"label": "subtasks", "start_step": 1432, "end_step": 1461, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green square block on the black tabletop."}, {"label": "goal", "start_step": 1439, "end_step": 1584, "id": "e268d54d-cf74-4ba2-b084-c7891fed7ae7"}, {"label": "subtasks", "start_step": 1462, "end_step": 1477, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift: Right hand lifts the grasped green square block off the black tabletop."}, {"label": "subtasks", "start_step": 1478, "end_step": 1491, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: transport: Right hand carries the green square block toward the wooden base."}, {"label": "subtasks", "start_step": 1492, "end_step": 1574, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand aligns and fits the green square block onto the target peg of the wooden base."}, {"label": "subtasks", "start_step": 1575, "end_step": 1604, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: place: Right hand places the white cylindrical block onto the peg of the wooden base."}, {"label": "goal", "start_step": 1585, "end_step": 1656, "id": "6bee5ba7-57ba-409f-aa30-7a8d21f0bcf6"}, {"label": "subtasks", "start_step": 1605, "end_step": 1634, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves downwards towards the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1635, "end_step": 1679, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the table surface."}, {"label": "goal", "start_step": 1657, "end_step": 1786, "id": "46fbf3ce-9444-482c-a15e-044a9ca32a0c"}, {"label": "subtasks", "start_step": 1680, "end_step": 1694, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it towards the wooden rack."}, {"label": "subtasks", "start_step": 1695, "end_step": 1754, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the target peg above the green block on the wooden rack."}, {"label": "subtasks", "start_step": 1755, "end_step": 1784, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: release: Right hand releases the white hexagonal block from its grip."}, {"label": "subtasks", "start_step": 1785, "end_step": 1814, "id": "reasoning-language-00043", "text": "Left hand: retreat: Left hand retreats upward from the area near the wooden base with stacked blocks to the left side of the table. | Right hand: reach: Right hand moves downward from the stacked blocks on the wooden base toward the upper white hexagonal block on the table surface."}, {"label": "goal", "start_step": 1787, "end_step": 1890, "id": "2e55e908-3c6b-4689-b59b-2940a87e6780"}, {"label": "subtasks", "start_step": 1815, "end_step": 1829, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty in the air at the left side without any observable movement. | Right hand: reach: Right hand moves downward from the stacked blocks on the wooden base toward the upper white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1830, "end_step": 1911, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty in the air at the left side without any observable movement. | Right hand: grasp: Right hand adjusts its fingers to form a stable grip on the upper white hexagonal block on the table surface."}, {"label": "goal", "start_step": 1891, "end_step": 2274, "id": "b16fcada-c410-4f10-8fd1-428f3391e1ab"}, {"label": "subtasks", "start_step": 1912, "end_step": 1934, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty in the air at the left side without any observable movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1935, "end_step": 2009, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty in the air at the left side without any observable movement. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 2010, "end_step": 2031, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty in the air at the left side without any observable movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the rod adjacent to the purple rod."}, {"label": "subtasks", "start_step": 2032, "end_step": 2077, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty in the air at the left side without any observable movement. | Right hand: transport: Right hand transports the grasped white hexagonal block to above the target rod on the wooden base."}, {"label": "subtasks", "start_step": 2078, "end_step": 2264, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty in the air at the left side without any observable movement. | Right hand: mate: Right hand aligns the white hexagonal block with the target rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 2265, "end_step": 2294, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty in the air at the left side without any observable movement. | Right hand: place: Right hand places the white hexagonal block onto the top of the purple post fixed on the wooden base."}, {"label": "goal", "start_step": 2275, "end_step": 2360, "id": "054081bd-5962-425b-936b-bbb57320421b"}, {"label": "subtasks", "start_step": 2295, "end_step": 2331, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty in the air at the left side without any observable movement. | Right hand: reach: Right hand moves downward and toward the lower right area of the frame, approaching the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 2332, "end_step": 2354, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty in the air at the left side without any observable movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, with fingers closing to wrap around the block."}, {"label": "subtasks", "start_step": 2355, "end_step": 2384, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty in the air at the left side without any observable movement. | Right hand: lift: Right hand lifts the white ring from the table surface."}, {"label": "goal", "start_step": 2361, "end_step": 2824, "id": "7b7c9179-1c60-4faf-8217-90e7a5fc82b1"}, {"label": "subtasks", "start_step": 2385, "end_step": 2414, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty in the air at the left side without any observable movement. | Right hand: transport: Right hand transports the white ring above the target pillar on the wooden rack."}, {"label": "subtasks", "start_step": 2415, "end_step": 2811, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty in the air at the left side without any observable movement. | Right hand: mate: Right hand mates the white ring onto the target pillar and adjusts its position to fit properly."}, {"label": "subtasks", "start_step": 2812, "end_step": 2819, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty in the air at the left side without any observable movement. | Right hand: release: Right hand releases the white ring placed on the pillar."}, {"label": "subtasks", "start_step": 2820, "end_step": 2879, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty in the air at the left side without any observable movement. | Right hand: reach: Right hand moves towards the green block on the lower right part of the desktop."}, {"label": "goal", "start_step": 2825, "end_step": 3192, "id": "88f4f045-3c81-484e-8574-12e7c137e0d6"}, {"label": "subtasks", "start_step": 2880, "end_step": 3059, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty in the air at the left side without any observable movement. | Right hand: reorient: Right hand adjusts the orientation and position of the green block on the desktop."}, {"label": "subtasks", "start_step": 3060, "end_step": 3074, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty in the air at the left side without any observable movement. | Right hand: retreat: Right hand moves slightly away from the green block."}, {"label": "subtasks", "start_step": 3075, "end_step": 3179, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty in the air at the left side without any observable movement. | Right hand: reorient: Right hand adjusts the position and orientation of the green block on the desktop."}, {"label": "subtasks", "start_step": 3180, "end_step": 3209, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty in the air at the left side without any observable movement. | Right hand: hold: Right hand holds the green block on the right side of the table without moving."}, {"label": "goal", "start_step": 3193, "end_step": 3348, "id": "772b8c0c-9a6b-4a8a-8ac6-531c5e762355"}, {"label": "subtasks", "start_step": 3210, "end_step": 3224, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty in the air at the left side without any observable movement. | Right hand: lift: Right hand lifts the green block up away from the table surface."}, {"label": "subtasks", "start_step": 3225, "end_step": 3247, "id": "reasoning-language-00064", "text": "Left hand: idle: Left hand remains empty in the air at the left side without any observable movement. | Right hand: transport: Right hand transports the green block towards the top of the test tube rack."}, {"label": "subtasks", "start_step": 3248, "end_step": 3329, "id": "reasoning-language-00065", "text": "Left hand: idle: Left hand remains empty in the air at the left side without any observable movement. | Right hand: mate: Right hand mates the green block onto the rightmost white bottle on the test tube rack."}, {"label": "subtasks", "start_step": 3330, "end_step": 3359, "id": "reasoning-language-00066", "text": "Left hand: idle: Left hand remains empty in the air at the left side without any observable movement. | Right hand: release_retreat: Right hand releases the green block on the rightmost white bottle, then retreats slightly away from the test tube rack."}, {"label": "home", "start_step": 3392, "end_step": 3422, "id": "mxawoB5fkhV4f-FIOHrdR"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 44, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves toward the green cube located on the black table in front of the wooden block base."}, {"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 operation area without moving. | Right hand: grasp: Right hand closes its fingers around the green cube to form a stable grasp."}, {"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 operation area without moving. | Right hand: lift: Right hand lifts the green cube upward away from the black table surface."}, {"label": "subtasks", "start_step": 120, "end_step": 187, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: transport: Right hand carries the green cube toward the leftmost purple rod on the wooden base."}, {"label": "subtasks", "start_step": 188, "end_step": 224, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand aligns the green cube with the leftmost purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 225, "end_step": 247, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand adjusts fingers to form a stable grip on the green block placed on the black table."}, {"label": "subtasks", "start_step": 248, "end_step": 277, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it to the position above the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 278, "end_step": 344, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand aligns the green block with the leftmost purple peg and inserts it down onto the peg to complete assembly."}, {"label": "subtasks", "start_step": 345, "end_step": 374, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 375, "end_step": 419, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block, adjusting grip to stabilize the object."}, {"label": "subtasks", "start_step": 420, "end_step": 434, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift: Right hand lifts the white hexagonal block upward until it completely leaves the table surface."}, {"label": "subtasks", "start_step": 435, "end_step": 494, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: transport: Right hand transports the white hexagonal block upward to the position above the leftmost purple rod on the wooden base."}, {"label": "subtasks", "start_step": 495, "end_step": 547, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: place: Right hand places the white hexagonal block downward onto the leftmost purple rod until the block is supported by the rod."}, {"label": "subtasks", "start_step": 548, "end_step": 584, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: press: Right hand presses the white hexagonal block downward along the purple rod to fix it in place."}, {"label": "subtasks", "start_step": 585, "end_step": 614, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the vertical post of the wooden base."}, {"label": "subtasks", "start_step": 615, "end_step": 621, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: release: Right hand releases the white hexagonal block placed on the post."}, {"label": "subtasks", "start_step": 622, "end_step": 659, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand reaches downward towards the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 660, "end_step": 674, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 675, "end_step": 697, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift: Right hand lifts the white hexagonal block from the black table surface."}, {"label": "subtasks", "start_step": 698, "end_step": 711, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: transport: Right hand transports the white hexagonal block towards the wooden rack with purple rods."}, {"label": "subtasks", "start_step": 712, "end_step": 809, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the leftmost purple rod of the wooden rack."}, {"label": "subtasks", "start_step": 810, "end_step": 861, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves downwards to reach the white hexagonal block placed on the table in front of the pegboard."}, {"label": "subtasks", "start_step": 862, "end_step": 884, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 885, "end_step": 1011, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand holds the white hexagonal block and aligns it to the purple post on the pegboard for assembly."}, {"label": "subtasks", "start_step": 1012, "end_step": 1101, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: release: Right hand opens its fingers to release the white hexagonal block on the purple post."}, {"label": "subtasks", "start_step": 1102, "end_step": 1131, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves towards the tilted white hexagonal block on the purple post."}, {"label": "subtasks", "start_step": 1132, "end_step": 1229, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand adjusts the tilted white hexagonal block and fits it properly onto the purple post."}, {"label": "subtasks", "start_step": 1230, "end_step": 1259, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table near the wooden rack."}, {"label": "subtasks", "start_step": 1260, "end_step": 1274, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1275, "end_step": 1364, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 1365, "end_step": 1401, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: release: Right hand releases the white cylindrical block placed on the peg of the wooden base."}, {"label": "subtasks", "start_step": 1402, "end_step": 1431, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves downward toward the green square block on the black tabletop."}, {"label": "subtasks", "start_step": 1432, "end_step": 1461, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green square block on the black tabletop."}, {"label": "subtasks", "start_step": 1462, "end_step": 1477, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift: Right hand lifts the grasped green square block off the black tabletop."}, {"label": "subtasks", "start_step": 1478, "end_step": 1491, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: transport: Right hand carries the green square block toward the wooden base."}, {"label": "subtasks", "start_step": 1492, "end_step": 1574, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand aligns and fits the green square block onto the target peg of the wooden base."}, {"label": "subtasks", "start_step": 1575, "end_step": 1604, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: place: Right hand places the white cylindrical block onto the peg of the wooden base."}, {"label": "subtasks", "start_step": 1605, "end_step": 1634, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves downwards towards the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1635, "end_step": 1679, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1680, "end_step": 1694, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it towards the wooden rack."}, {"label": "subtasks", "start_step": 1695, "end_step": 1754, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the target peg above the green block on the wooden rack."}, {"label": "subtasks", "start_step": 1755, "end_step": 1784, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: release: Right hand releases the white hexagonal block from its grip."}, {"label": "subtasks", "start_step": 1785, "end_step": 1814, "id": "reasoning-language-00043", "text": "Left hand: retreat: Left hand retreats upward from the area near the wooden base with stacked blocks to the left side of the table. | Right hand: reach: Right hand moves downward from the stacked blocks on the wooden base toward the upper white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1815, "end_step": 1829, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty in the air at the left side without any observable movement. | Right hand: reach: Right hand moves downward from the stacked blocks on the wooden base toward the upper white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1830, "end_step": 1911, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty in the air at the left side without any observable movement. | Right hand: grasp: Right hand adjusts its fingers to form a stable grip on the upper white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1912, "end_step": 1934, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty in the air at the left side without any observable movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1935, "end_step": 2009, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty in the air at the left side without any observable movement. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 2010, "end_step": 2031, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty in the air at the left side without any observable movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the rod adjacent to the purple rod."}, {"label": "subtasks", "start_step": 2032, "end_step": 2077, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty in the air at the left side without any observable movement. | Right hand: transport: Right hand transports the grasped white hexagonal block to above the target rod on the wooden base."}, {"label": "subtasks", "start_step": 2078, "end_step": 2264, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty in the air at the left side without any observable movement. | Right hand: mate: Right hand aligns the white hexagonal block with the target rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 2265, "end_step": 2294, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty in the air at the left side without any observable movement. | Right hand: place: Right hand places the white hexagonal block onto the top of the purple post fixed on the wooden base."}, {"label": "subtasks", "start_step": 2295, "end_step": 2331, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty in the air at the left side without any observable movement. | Right hand: reach: Right hand moves downward and toward the lower right area of the frame, approaching the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 2332, "end_step": 2354, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty in the air at the left side without any observable movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, with fingers closing to wrap around the block."}, {"label": "subtasks", "start_step": 2355, "end_step": 2384, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty in the air at the left side without any observable movement. | Right hand: lift: Right hand lifts the white ring from the table surface."}, {"label": "subtasks", "start_step": 2385, "end_step": 2414, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty in the air at the left side without any observable movement. | Right hand: transport: Right hand transports the white ring above the target pillar on the wooden rack."}, {"label": "subtasks", "start_step": 2415, "end_step": 2811, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty in the air at the left side without any observable movement. | Right hand: mate: Right hand mates the white ring onto the target pillar and adjusts its position to fit properly."}, {"label": "subtasks", "start_step": 2812, "end_step": 2819, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty in the air at the left side without any observable movement. | Right hand: release: Right hand releases the white ring placed on the pillar."}, {"label": "subtasks", "start_step": 2820, "end_step": 2879, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty in the air at the left side without any observable movement. | Right hand: reach: Right hand moves towards the green block on the lower right part of the desktop."}, {"label": "subtasks", "start_step": 2880, "end_step": 3059, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty in the air at the left side without any observable movement. | Right hand: reorient: Right hand adjusts the orientation and position of the green block on the desktop."}, {"label": "subtasks", "start_step": 3060, "end_step": 3074, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty in the air at the left side without any observable movement. | Right hand: retreat: Right hand moves slightly away from the green block."}, {"label": "subtasks", "start_step": 3075, "end_step": 3179, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty in the air at the left side without any observable movement. | Right hand: reorient: Right hand adjusts the position and orientation of the green block on the desktop."}, {"label": "subtasks", "start_step": 3180, "end_step": 3209, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty in the air at the left side without any observable movement. | Right hand: hold: Right hand holds the green block on the right side of the table without moving."}, {"label": "subtasks", "start_step": 3210, "end_step": 3224, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty in the air at the left side without any observable movement. | Right hand: lift: Right hand lifts the green block up away from the table surface."}, {"label": "subtasks", "start_step": 3225, "end_step": 3247, "id": "reasoning-language-00064", "text": "Left hand: idle: Left hand remains empty in the air at the left side without any observable movement. | Right hand: transport: Right hand transports the green block towards the top of the test tube rack."}, {"label": "subtasks", "start_step": 3248, "end_step": 3329, "id": "reasoning-language-00065", "text": "Left hand: idle: Left hand remains empty in the air at the left side without any observable movement. | Right hand: mate: Right hand mates the green block onto the rightmost white bottle on the test tube rack."}, {"label": "subtasks", "start_step": 3330, "end_step": 3359, "id": "reasoning-language-00066", "text": "Left hand: idle: Left hand remains empty in the air at the left side without any observable movement. | Right hand: release_retreat: Right hand releases the green block on the rightmost white bottle, then retreats slightly away from the test tube rack."}], "episode_index": 10}
+{"source_uid": "73be2f9f97bfbf72", "num_frames": 2562, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 37, "id": "reasoning-language-00001", "text": "Left hand: return_home: Left hand moves from its initial raised position to the left home position, adjusting its finger posture during movement. | Right hand: reach: Right hand moves from its initial right-side position down toward the green hexagonal block placed on the table in front of the wooden peg set, with fingers slightly open."}, {"label": "goal", "start_step": 0, "end_step": 144, "id": "325192fa-b7fc-448c-9aec-e798595a4139"}, {"label": "valid", "start_step": 0, "end_step": 2530, "id": "iO3-WvUR2BU37fJn61BvY"}, {"label": "subtasks", "start_step": 38, "end_step": 74, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: reach: Right hand moves from its initial right-side position down toward the green hexagonal block placed on the table in front of the wooden peg set, with fingers slightly open."}, {"label": "subtasks", "start_step": 75, "end_step": 164, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand contacts the target green hexagonal block on the table, closes fingers and adjusts hand posture to establish a grasp on the block."}, {"label": "goal", "start_step": 145, "end_step": 292, "id": "04d6c14b-9493-4eb1-aeb8-beea513ee7cb"}, {"label": "subtasks", "start_step": 165, "end_step": 179, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block off the table surface and moves it to the position above the purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 180, "end_step": 284, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: mate: Right hand aligns the green hexagonal block with the purple peg on the wooden rack and lowers the block to fit it onto the peg."}, {"label": "subtasks", "start_step": 285, "end_step": 321, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand adjusts finger positions to close around and form a stable grasp on the white hexagonal block mounted on the wooden peg board."}, {"label": "goal", "start_step": 293, "end_step": 436, "id": "90612bfb-ce39-493a-a0e5-989f772003c8"}, {"label": "subtasks", "start_step": 322, "end_step": 337, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward, fully separating it from the supporting peg on the wooden board."}, {"label": "subtasks", "start_step": 338, "end_step": 359, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: transport: Right hand carries the grasped white hexagonal block downward toward the empty black table surface in front of the peg board."}, {"label": "subtasks", "start_step": 360, "end_step": 389, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: place: Right hand lowers the white hexagonal block onto the black table surface, adjusting its position until it stands stably supported by the table."}, {"label": "subtasks", "start_step": 390, "end_step": 434, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: hold: Right hand holds the stably placed white hexagonal block on the table surface without observable movement of the hand or block."}, {"label": "subtasks", "start_step": 435, "end_step": 457, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand adjusts finger positions to form a stable grasp on the white hexagonal nut resting on the black table surface."}, {"label": "goal", "start_step": 437, "end_step": 578, "id": "0491dea6-5267-40db-8981-4d397c01ddd5"}, {"label": "subtasks", "start_step": 458, "end_step": 479, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and transports it upward to the position above the purple rod mounted on the green base."}, {"label": "subtasks", "start_step": 480, "end_step": 569, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple rod and moves it downward to fit onto the rod, with slight finger adjustments to maintain alignment during insertion."}, {"label": "subtasks", "start_step": 570, "end_step": 599, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: place_release: Right hand lowers the white-topped cylindrical block onto the front purple rod of the wooden assembly base until the block rests stably on the base, opening fingers to release contact with the block."}, {"label": "goal", "start_step": 579, "end_step": 666, "id": "f2457398-66ea-407d-8f06-f21612d5b46d"}, {"label": "subtasks", "start_step": 600, "end_step": 621, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: reach: Right hand moves empty downward across the table surface toward the green hexagonal block, approaching the target without making contact."}, {"label": "subtasks", "start_step": 622, "end_step": 659, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand contacts the green hexagonal block on the table surface, closing and adjusting finger positions to establish a grip on the block."}, {"label": "subtasks", "start_step": 660, "end_step": 689, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: hold: Right hand holds the white hexagonal nut resting on the black table surface without any visible movement."}, {"label": "goal", "start_step": 667, "end_step": 832, "id": "32fcfab8-e786-40ba-98cd-92c14f0a8a1a"}, {"label": "subtasks", "start_step": 690, "end_step": 704, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: lift: Right hand moves upward to lift the grasped white hexagonal nut, fully separating it from the black table surface."}, {"label": "subtasks", "start_step": 705, "end_step": 719, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: transport: Right hand carries the lifted white hexagonal nut through the air, moving it upward and toward the wooden block assembly to position it above the target purple peg."}, {"label": "subtasks", "start_step": 720, "end_step": 824, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: mate_release: Right hand aligns the white hexagonal nut with the target purple wooden peg, slides it downward to seat it on the lower block, and opens fingers to release grasp on the nut."}, {"label": "subtasks", "start_step": 825, "end_step": 861, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: reach: Right hand moves downward from above the wooden assembly rack toward the white hexagonal block resting on the table in front of the rack, with fingers held in an open position."}, {"label": "goal", "start_step": 833, "end_step": 886, "id": "65c397c5-21e5-48d7-8a2b-e1d671e21df6"}, {"label": "subtasks", "start_step": 862, "end_step": 907, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand closes its fingers around the target white hexagonal block on the table, making small adjustments to finger contact points to form a stable grip while the block remains supported by the table surface."}, {"label": "goal", "start_step": 887, "end_step": 1008, "id": "c5759765-f750-480e-ae33-14b46f1124f9"}, {"label": "subtasks", "start_step": 908, "end_step": 921, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward, fully separating the block from the table surface."}, {"label": "subtasks", "start_step": 922, "end_step": 937, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: transport: Right hand carries the lifted white hexagonal block upward and horizontally toward the purple vertical peg on the wooden assembly rack."}, {"label": "subtasks", "start_step": 938, "end_step": 997, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: mate: Right hand positions the white hexagonal block directly above the purple peg, making fine adjustments to align the block's central hole with the peg."}, {"label": "subtasks", "start_step": 998, "end_step": 1004, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: place: Right hand lowers the white hexagonal block down along the purple peg until the block rests securely on the wooden assembly rack surface."}, {"label": "subtasks", "start_step": 1005, "end_step": 1027, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: release: Right hand releases the white hexagonal block placed on the purple peg, with fingers opening to separate from the block."}, {"label": "goal", "start_step": 1009, "end_step": 1086, "id": "f2af61f1-0fba-499f-94a5-f2bf44d6e51e"}, {"label": "subtasks", "start_step": 1028, "end_step": 1049, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the table surface, approaching the target without making contact."}, {"label": "subtasks", "start_step": 1050, "end_step": 1109, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand contacts the green hexagonal block on the table, with fingers closing and making slight adjustments to form a stable grip on the block."}, {"label": "goal", "start_step": 1087, "end_step": 1448, "id": "14b9508d-c760-4a30-96c6-35c88b3a3f00"}, {"label": "subtasks", "start_step": 1110, "end_step": 1124, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: lift_transport: Right hand lifts the stably grasped green hexagonal block off the table surface and transports it upward to a position directly above the purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 1125, "end_step": 1439, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: mate: Right hand makes small continuous positional and rotational adjustments to the grasped green hexagonal block, aligning its central aperture with the purple vertical peg to seat the block onto the peg."}, {"label": "subtasks", "start_step": 1440, "end_step": 1469, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: release: Right hand opens fingers to release the white cylindrical block on the wooden stacking base."}, {"label": "goal", "start_step": 1449, "end_step": 1628, "id": "3065acd4-747e-4b56-86e6-70a6e96118cc"}, {"label": "subtasks", "start_step": 1470, "end_step": 1499, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: reach: Right hand moves downward with an empty hand toward the white hexagonal block placed on the dark table surface."}, {"label": "subtasks", "start_step": 1500, "end_step": 1717, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand adjusts finger positions and closes fingers around the white hexagonal block on the table to establish a stable grasp."}, {"label": "goal", "start_step": 1629, "end_step": 1838, "id": "8841e351-dd60-4f55-a87e-e5a1c45ad4ac"}, {"label": "subtasks", "start_step": 1718, "end_step": 1761, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the dark table surface, transporting it upward and leftward to the position above the target rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 1762, "end_step": 1829, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: mate: Right hand aligns the central hole of the held white hexagonal nut with the target vertical rod on the wooden assembly base, lowering the nut to fit it onto the rod as part of the assembly process."}, {"label": "subtasks", "start_step": 1830, "end_step": 1851, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: release: Right hand opens fingers to release the green hexagonal block on the wooden base, lifting fingers away from the block surface."}, {"label": "goal", "start_step": 1839, "end_step": 1912, "id": "9b435bc3-8335-4376-9b02-27d185eb118f"}, {"label": "subtasks", "start_step": 1852, "end_step": 1874, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: reach: Right hand moves downward and rightward from above the wooden block base towards the white hexagonal nut on the table to the right of the base, with fingers slightly extended."}, {"label": "subtasks", "start_step": 1875, "end_step": 1927, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table to the right of the wooden base, making slight finger adjustments to establish grip on the nut."}, {"label": "goal", "start_step": 1913, "end_step": 2070, "id": "51066d2b-9b21-4406-9e2e-f20321c8435d"}, {"label": "subtasks", "start_step": 1928, "end_step": 1941, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward off the dark table surface."}, {"label": "subtasks", "start_step": 1942, "end_step": 1964, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: transport: Right hand moves the lifted white hexagonal block upward and horizontally to position it directly above the purple vertical rod on the wooden assembly."}, {"label": "subtasks", "start_step": 1965, "end_step": 2047, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: mate: Right hand makes small positional and rotational adjustments to the white hexagonal block to align its central hole with the purple vertical rod, fitting the block onto the rod."}, {"label": "subtasks", "start_step": 2048, "end_step": 2069, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: place: Right hand lowers the white hexagonal block down along the purple vertical rod until the block rests stably on the surface of the wooden base."}, {"label": "subtasks", "start_step": 2070, "end_step": 2114, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: reach: Right hand moves downward and rightward from the area near the wooden block rack toward the white hexagonal nut on the dark table surface, with fingers slightly open."}, {"label": "goal", "start_step": 2071, "end_step": 2146, "id": "ead5bbcd-db9b-41ce-b592-717a38980ffc"}, {"label": "subtasks", "start_step": 2115, "end_step": 2144, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand makes contact with the white hexagonal nut on the table, fingers gradually close and adjust positions to form a grasp, with the nut remaining on the table surface."}, {"label": "subtasks", "start_step": 2145, "end_step": 2167, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: hold: Right hand holds the white hexagonal block stationary on the dark table surface."}, {"label": "goal", "start_step": 2147, "end_step": 2272, "id": "e7738ecd-896d-4aa2-9b6a-9ab164e3de0c"}, {"label": "subtasks", "start_step": 2168, "end_step": 2197, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and moves it upward to the position directly above the purple rod on the wooden block base."}, {"label": "subtasks", "start_step": 2198, "end_step": 2257, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and moves it downward to fit the block onto the rod."}, {"label": "subtasks", "start_step": 2258, "end_step": 2264, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: release: Right hand opens its fingers to release the white hexagonal block fitted on the purple rod."}, {"label": "subtasks", "start_step": 2265, "end_step": 2294, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: press: Right hand presses the purple top of the front white bottle on the wooden stand downward."}, {"label": "goal", "start_step": 2273, "end_step": 2354, "id": "42ef6a42-5225-459b-90fc-d202388be5af"}, {"label": "subtasks", "start_step": 2295, "end_step": 2324, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: reach: Right hand moves empty downward toward the green block placed on the lower right table surface."}, {"label": "subtasks", "start_step": 2325, "end_step": 2354, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand closes fingers around the green block on the lower right table surface to establish a grip."}, {"label": "subtasks", "start_step": 2355, "end_step": 2369, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand adjusts its grasp on the green block resting on the table, with fingers slightly tightening to stabilize contact with the block."}, {"label": "goal", "start_step": 2355, "end_step": 2500, "id": "01bc9232-8a19-45e5-a036-dbf99026de91"}, {"label": "subtasks", "start_step": 2370, "end_step": 2391, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: lift_transport: Right hand lifts the green block completely off the table surface, then moves it upward and leftward to the position above the wooden bottle rack."}, {"label": "subtasks", "start_step": 2392, "end_step": 2459, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: mate: Right hand adjusts the position of the green block to align its central hole with the purple post on the bottle rack below."}, {"label": "subtasks", "start_step": 2460, "end_step": 2481, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: place: Right hand lowers the aligned green block down along the purple post until the block rests stably on the white bottle cap below."}, {"label": "subtasks", "start_step": 2482, "end_step": 2504, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: release: Right hand opens its fingers to release the green block, separating the fingers from the block surface."}, {"label": "home", "start_step": 2531, "end_step": 2561, "id": "gLqxcZfqvtaZokR2R5t4-"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 37, "id": "reasoning-language-00001", "text": "Left hand: return_home: Left hand moves from its initial raised position to the left home position, adjusting its finger posture during movement. | Right hand: reach: Right hand moves from its initial right-side position down toward the green hexagonal block placed on the table in front of the wooden peg set, with fingers slightly open."}, {"label": "subtasks", "start_step": 38, "end_step": 74, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: reach: Right hand moves from its initial right-side position down toward the green hexagonal block placed on the table in front of the wooden peg set, with fingers slightly open."}, {"label": "subtasks", "start_step": 75, "end_step": 164, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand contacts the target green hexagonal block on the table, closes fingers and adjusts hand posture to establish a grasp on the block."}, {"label": "subtasks", "start_step": 165, "end_step": 179, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block off the table surface and moves it to the position above the purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 180, "end_step": 284, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: mate: Right hand aligns the green hexagonal block with the purple peg on the wooden rack and lowers the block to fit it onto the peg."}, {"label": "subtasks", "start_step": 285, "end_step": 321, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand adjusts finger positions to close around and form a stable grasp on the white hexagonal block mounted on the wooden peg board."}, {"label": "subtasks", "start_step": 322, "end_step": 337, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward, fully separating it from the supporting peg on the wooden board."}, {"label": "subtasks", "start_step": 338, "end_step": 359, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: transport: Right hand carries the grasped white hexagonal block downward toward the empty black table surface in front of the peg board."}, {"label": "subtasks", "start_step": 360, "end_step": 389, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: place: Right hand lowers the white hexagonal block onto the black table surface, adjusting its position until it stands stably supported by the table."}, {"label": "subtasks", "start_step": 390, "end_step": 434, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: hold: Right hand holds the stably placed white hexagonal block on the table surface without observable movement of the hand or block."}, {"label": "subtasks", "start_step": 435, "end_step": 457, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand adjusts finger positions to form a stable grasp on the white hexagonal nut resting on the black table surface."}, {"label": "subtasks", "start_step": 458, "end_step": 479, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and transports it upward to the position above the purple rod mounted on the green base."}, {"label": "subtasks", "start_step": 480, "end_step": 569, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple rod and moves it downward to fit onto the rod, with slight finger adjustments to maintain alignment during insertion."}, {"label": "subtasks", "start_step": 570, "end_step": 599, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: place_release: Right hand lowers the white-topped cylindrical block onto the front purple rod of the wooden assembly base until the block rests stably on the base, opening fingers to release contact with the block."}, {"label": "subtasks", "start_step": 600, "end_step": 621, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: reach: Right hand moves empty downward across the table surface toward the green hexagonal block, approaching the target without making contact."}, {"label": "subtasks", "start_step": 622, "end_step": 659, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand contacts the green hexagonal block on the table surface, closing and adjusting finger positions to establish a grip on the block."}, {"label": "subtasks", "start_step": 660, "end_step": 689, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: hold: Right hand holds the white hexagonal nut resting on the black table surface without any visible movement."}, {"label": "subtasks", "start_step": 690, "end_step": 704, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: lift: Right hand moves upward to lift the grasped white hexagonal nut, fully separating it from the black table surface."}, {"label": "subtasks", "start_step": 705, "end_step": 719, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: transport: Right hand carries the lifted white hexagonal nut through the air, moving it upward and toward the wooden block assembly to position it above the target purple peg."}, {"label": "subtasks", "start_step": 720, "end_step": 824, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: mate_release: Right hand aligns the white hexagonal nut with the target purple wooden peg, slides it downward to seat it on the lower block, and opens fingers to release grasp on the nut."}, {"label": "subtasks", "start_step": 825, "end_step": 861, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: reach: Right hand moves downward from above the wooden assembly rack toward the white hexagonal block resting on the table in front of the rack, with fingers held in an open position."}, {"label": "subtasks", "start_step": 862, "end_step": 907, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand closes its fingers around the target white hexagonal block on the table, making small adjustments to finger contact points to form a stable grip while the block remains supported by the table surface."}, {"label": "subtasks", "start_step": 908, "end_step": 921, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward, fully separating the block from the table surface."}, {"label": "subtasks", "start_step": 922, "end_step": 937, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: transport: Right hand carries the lifted white hexagonal block upward and horizontally toward the purple vertical peg on the wooden assembly rack."}, {"label": "subtasks", "start_step": 938, "end_step": 997, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: mate: Right hand positions the white hexagonal block directly above the purple peg, making fine adjustments to align the block's central hole with the peg."}, {"label": "subtasks", "start_step": 998, "end_step": 1004, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: place: Right hand lowers the white hexagonal block down along the purple peg until the block rests securely on the wooden assembly rack surface."}, {"label": "subtasks", "start_step": 1005, "end_step": 1027, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: release: Right hand releases the white hexagonal block placed on the purple peg, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 1028, "end_step": 1049, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the table surface, approaching the target without making contact."}, {"label": "subtasks", "start_step": 1050, "end_step": 1109, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand contacts the green hexagonal block on the table, with fingers closing and making slight adjustments to form a stable grip on the block."}, {"label": "subtasks", "start_step": 1110, "end_step": 1124, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: lift_transport: Right hand lifts the stably grasped green hexagonal block off the table surface and transports it upward to a position directly above the purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 1125, "end_step": 1439, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: mate: Right hand makes small continuous positional and rotational adjustments to the grasped green hexagonal block, aligning its central aperture with the purple vertical peg to seat the block onto the peg."}, {"label": "subtasks", "start_step": 1440, "end_step": 1469, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: release: Right hand opens fingers to release the white cylindrical block on the wooden stacking base."}, {"label": "subtasks", "start_step": 1470, "end_step": 1499, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: reach: Right hand moves downward with an empty hand toward the white hexagonal block placed on the dark table surface."}, {"label": "subtasks", "start_step": 1500, "end_step": 1717, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand adjusts finger positions and closes fingers around the white hexagonal block on the table to establish a stable grasp."}, {"label": "subtasks", "start_step": 1718, "end_step": 1761, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the dark table surface, transporting it upward and leftward to the position above the target rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 1762, "end_step": 1829, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: mate: Right hand aligns the central hole of the held white hexagonal nut with the target vertical rod on the wooden assembly base, lowering the nut to fit it onto the rod as part of the assembly process."}, {"label": "subtasks", "start_step": 1830, "end_step": 1851, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: release: Right hand opens fingers to release the green hexagonal block on the wooden base, lifting fingers away from the block surface."}, {"label": "subtasks", "start_step": 1852, "end_step": 1874, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: reach: Right hand moves downward and rightward from above the wooden block base towards the white hexagonal nut on the table to the right of the base, with fingers slightly extended."}, {"label": "subtasks", "start_step": 1875, "end_step": 1927, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table to the right of the wooden base, making slight finger adjustments to establish grip on the nut."}, {"label": "subtasks", "start_step": 1928, "end_step": 1941, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward off the dark table surface."}, {"label": "subtasks", "start_step": 1942, "end_step": 1964, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: transport: Right hand moves the lifted white hexagonal block upward and horizontally to position it directly above the purple vertical rod on the wooden assembly."}, {"label": "subtasks", "start_step": 1965, "end_step": 2047, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: mate: Right hand makes small positional and rotational adjustments to the white hexagonal block to align its central hole with the purple vertical rod, fitting the block onto the rod."}, {"label": "subtasks", "start_step": 2048, "end_step": 2069, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: place: Right hand lowers the white hexagonal block down along the purple vertical rod until the block rests stably on the surface of the wooden base."}, {"label": "subtasks", "start_step": 2070, "end_step": 2114, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: reach: Right hand moves downward and rightward from the area near the wooden block rack toward the white hexagonal nut on the dark table surface, with fingers slightly open."}, {"label": "subtasks", "start_step": 2115, "end_step": 2144, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand makes contact with the white hexagonal nut on the table, fingers gradually close and adjust positions to form a grasp, with the nut remaining on the table surface."}, {"label": "subtasks", "start_step": 2145, "end_step": 2167, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: hold: Right hand holds the white hexagonal block stationary on the dark table surface."}, {"label": "subtasks", "start_step": 2168, "end_step": 2197, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and moves it upward to the position directly above the purple rod on the wooden block base."}, {"label": "subtasks", "start_step": 2198, "end_step": 2257, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and moves it downward to fit the block onto the rod."}, {"label": "subtasks", "start_step": 2258, "end_step": 2264, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: release: Right hand opens its fingers to release the white hexagonal block fitted on the purple rod."}, {"label": "subtasks", "start_step": 2265, "end_step": 2294, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: press: Right hand presses the purple top of the front white bottle on the wooden stand downward."}, {"label": "subtasks", "start_step": 2295, "end_step": 2324, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: reach: Right hand moves empty downward toward the green block placed on the lower right table surface."}, {"label": "subtasks", "start_step": 2325, "end_step": 2354, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand closes fingers around the green block on the lower right table surface to establish a grip."}, {"label": "subtasks", "start_step": 2355, "end_step": 2369, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand adjusts its grasp on the green block resting on the table, with fingers slightly tightening to stabilize contact with the block."}, {"label": "subtasks", "start_step": 2370, "end_step": 2391, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: lift_transport: Right hand lifts the green block completely off the table surface, then moves it upward and leftward to the position above the wooden bottle rack."}, {"label": "subtasks", "start_step": 2392, "end_step": 2459, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: mate: Right hand adjusts the position of the green block to align its central hole with the purple post on the bottle rack below."}, {"label": "subtasks", "start_step": 2460, "end_step": 2481, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: place: Right hand lowers the aligned green block down along the purple post until the block rests stably on the white bottle cap below."}, {"label": "subtasks", "start_step": 2482, "end_step": 2504, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: release: Right hand opens its fingers to release the green block, separating the fingers from the block surface."}], "episode_index": 11}
+{"source_uid": "87397e2d8140663a", "num_frames": 3522, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: other:spread_fingers: Left hand spreads its fingers at the left side of the table, with no obvious position change. | Right hand: reach: Right hand moves leftward and downward toward the green hexagonal part on the table in front of the peg board."}, {"label": "goal", "start_step": 0, "end_step": 192, "id": "c16f5832-6095-4cac-91be-4ca82894ade3"}, {"label": "valid", "start_step": 0, "end_step": 3490, "id": "8SaRnpZOFHUowM9x3UZez"}, {"label": "subtasks", "start_step": 30, "end_step": 81, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves leftward and downward toward the green hexagonal part on the table in front of the peg board."}, {"label": "subtasks", "start_step": 82, "end_step": 127, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand grasps the green hexagonal part on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 128, "end_step": 179, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: hold: Right hand holds the green hexagonal part on the table without moving."}, {"label": "subtasks", "start_step": 180, "end_step": 209, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand grasps the green hexagonal piece on the black table, adjusting its grip with fingers."}, {"label": "goal", "start_step": 193, "end_step": 386, "id": "a52609fe-5ced-43f0-8ceb-c4f06eaff461"}, {"label": "subtasks", "start_step": 210, "end_step": 239, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the green hexagonal piece from the black table and transports it upward to the position above the leftmost peg on the wooden base."}, {"label": "subtasks", "start_step": 240, "end_step": 359, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand mates the green hexagonal piece onto the leftmost peg of the wooden base, aligning and inserting it into position."}, {"label": "subtasks", "start_step": 360, "end_step": 374, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: hold: Right hand holds the green hexagonal piece fitted on the leftmost peg of the wooden base without moving."}, {"label": "subtasks", "start_step": 375, "end_step": 411, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate_release: Right hand mates the white hexagonal piece onto the green peg of the middle wooden base and releases the piece."}, {"label": "goal", "start_step": 387, "end_step": 532, "id": "0d7d2fef-0039-406a-8723-6e9590dd5a13"}, {"label": "subtasks", "start_step": 412, "end_step": 427, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand reaches downward toward the white hexagonal piece on the black table surface."}, {"label": "subtasks", "start_step": 428, "end_step": 509, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand grasps the white hexagonal piece on the black table surface with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 510, "end_step": 524, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: hold: Right hand holds the white hexagonal piece on the black table surface without moving."}, {"label": "subtasks", "start_step": 525, "end_step": 554, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand grasps the white hexagonal object on the black table surface, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 533, "end_step": 664, "id": "d0a2c744-45c9-4b89-b7ad-39ec956311a8"}, {"label": "subtasks", "start_step": 555, "end_step": 569, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal object from the table surface and transports it to the position above the leftmost front purple peg of the peg rack."}, {"label": "subtasks", "start_step": 570, "end_step": 659, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand mates the white hexagonal object onto the leftmost front purple peg by lowering it and fitting it into place."}, {"label": "subtasks", "start_step": 660, "end_step": 681, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: release: Right hand opens its fingers to release the green hexagonal piece on the purple rod of the wooden base."}, {"label": "goal", "start_step": 665, "end_step": 792, "id": "c065cfef-cb57-4cbf-a84a-f6f119d16f0a"}, {"label": "subtasks", "start_step": 682, "end_step": 711, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves downward toward the white hexagonal object on the black table surface."}, {"label": "subtasks", "start_step": 712, "end_step": 741, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal object on the table."}, {"label": "subtasks", "start_step": 742, "end_step": 779, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: hold: Right hand holds the white hexagonal object on the table without moving."}, {"label": "subtasks", "start_step": 780, "end_step": 809, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand grasps the white hexagonal part on the black table, with fingers adjusting the grip."}, {"label": "goal", "start_step": 793, "end_step": 1158, "id": "a80eaaa9-2d46-4647-9836-55bd1221e18c"}, {"label": "subtasks", "start_step": 810, "end_step": 831, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal part from the black table and moves it toward the middle wooden rack."}, {"label": "subtasks", "start_step": 832, "end_step": 959, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand aligns the white hexagonal part with the front-left purple peg on the wooden rack and inserts it onto the peg, with slight position and orientation adjustments."}, {"label": "subtasks", "start_step": 960, "end_step": 997, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: press: Right hand presses the white hexagonal part down along the front-left purple peg to secure it."}, {"label": "subtasks", "start_step": 998, "end_step": 1109, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: hold: Right hand holds the white hexagonal part on the front-left purple peg without moving."}, {"label": "subtasks", "start_step": 1110, "end_step": 1154, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand adjusts its grip on the white hexagonal part on the front-left purple peg, with fingers slightly repositioning."}, {"label": "subtasks", "start_step": 1155, "end_step": 1177, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: place_release: Right hand places the white hexagonal block onto the middle purple peg of the wooden base and releases the block."}, {"label": "goal", "start_step": 1159, "end_step": 1256, "id": "88d00067-7f85-457e-b3f7-e5afbd6b4682"}, {"label": "subtasks", "start_step": 1178, "end_step": 1199, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table in front of the wooden base."}, {"label": "subtasks", "start_step": 1200, "end_step": 1221, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing around it."}, {"label": "subtasks", "start_step": 1222, "end_step": 1244, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: hold: Right hand holds the white hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 1245, "end_step": 1274, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface, with fingers closing and adjusting to form a stable grip."}, {"label": "goal", "start_step": 1257, "end_step": 1526, "id": "4fec458b-78e9-4c18-945b-a96187c7e54d"}, {"label": "subtasks", "start_step": 1275, "end_step": 1304, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it upward and leftward to the position above the purple peg of the wooden rack."}, {"label": "subtasks", "start_step": 1305, "end_step": 1394, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand mates the white hexagonal block with the purple peg by aligning the block's hole with the peg and inserting it downwards."}, {"label": "subtasks", "start_step": 1395, "end_step": 1417, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift: Right hand lifts the white hexagonal block slightly upward along the purple peg."}, {"label": "subtasks", "start_step": 1418, "end_step": 1454, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: place: Right hand places the white hexagonal block downward along the purple peg until it is supported by the peg."}, {"label": "subtasks", "start_step": 1455, "end_step": 1514, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: hold: Right hand holds the white hexagonal block on the purple peg without any movement."}, {"label": "subtasks", "start_step": 1515, "end_step": 1537, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: place_release: Right hand places the white hexagonal piece onto the base of the front-right purple peg and opens fingers to release the grip."}, {"label": "goal", "start_step": 1527, "end_step": 1642, "id": "6dfa70fe-98cf-46ae-847d-f16809afd3a2"}, {"label": "subtasks", "start_step": 1538, "end_step": 1589, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves downward toward the green hexagonal piece on the black table."}, {"label": "subtasks", "start_step": 1590, "end_step": 1611, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand grasps the green hexagonal piece on the table, with fingers closing around the piece to form a grip."}, {"label": "subtasks", "start_step": 1612, "end_step": 1634, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: hold: Right hand holds the green hexagonal piece on the black table without moving."}, {"label": "subtasks", "start_step": 1635, "end_step": 1657, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand grasps the green hollow hexagonal block on the black table surface, with fingers closing to adjust and form a stable grip."}, {"label": "goal", "start_step": 1643, "end_step": 1788, "id": "7887e50c-e25e-41c8-a722-f4de322e8966"}, {"label": "subtasks", "start_step": 1658, "end_step": 1671, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the green hollow hexagonal block off the table and transports it to the position above the middle purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1672, "end_step": 1784, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand aligns the green hollow hexagonal block with the middle purple peg and slides the block down along the peg to complete the assembly."}, {"label": "subtasks", "start_step": 1785, "end_step": 1807, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate_release: Right hand mates the purple rod with the green block on the wooden base and releases the rod."}, {"label": "goal", "start_step": 1789, "end_step": 1884, "id": "ab13a6d0-6629-4849-9882-a87a898bfaa4"}, {"label": "subtasks", "start_step": 1808, "end_step": 1829, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table below the wooden base."}, {"label": "subtasks", "start_step": 1830, "end_step": 1904, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers adjusting to stabilize the grip."}, {"label": "goal", "start_step": 1885, "end_step": 2040, "id": "312fa9b5-054c-4213-a477-119615455a8c"}, {"label": "subtasks", "start_step": 1905, "end_step": 1927, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the black table and moves it towards the wooden pegboard in the middle of the table."}, {"label": "subtasks", "start_step": 1928, "end_step": 2024, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand mates the white hexagonal block with the purple vertical peg on the wooden pegboard, adjusting the block to fit onto the peg."}, {"label": "subtasks", "start_step": 2025, "end_step": 2039, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple peg without moving."}, {"label": "subtasks", "start_step": 2040, "end_step": 2061, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: release: Right hand releases the white cylindrical block on the stacked blocks, with fingers opening and separating from the block."}, {"label": "goal", "start_step": 2041, "end_step": 2146, "id": "e61c6119-0465-4105-8a54-2e26a1987672"}, {"label": "subtasks", "start_step": 2062, "end_step": 2077, "id": "reasoning-language-00050", "text": "Left hand: reach: Left hand moves upward and rightward toward the stacked blocks on the wooden base. | Right hand: reach: Right hand moves downward and rightward toward the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 2078, "end_step": 2099, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the upper left area of the frame without moving. | Right hand: reach: Right hand moves downward and rightward toward the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 2100, "end_step": 2129, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the upper left area of the frame without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing and adjusting to stabilize the grip."}, {"label": "subtasks", "start_step": 2130, "end_step": 2144, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the upper left area of the frame without moving. | Right hand: hold_lift: Right hand holds the white hexagonal block still on the table first, then lifts it slightly off the table surface."}, {"label": "subtasks", "start_step": 2145, "end_step": 2181, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the upper left area of the frame without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal ring from the right table surface and transports it left-upward to the top of the purple rod."}, {"label": "goal", "start_step": 2147, "end_step": 2566, "id": "31944ae8-3726-4701-a7f3-98e7b013726b"}, {"label": "subtasks", "start_step": 2182, "end_step": 2249, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the upper left area of the frame without moving. | Right hand: mate_release: Right hand aligns the white hexagonal ring with the purple rod, fits it onto the rod with slight position adjustments, and releases the ring."}, {"label": "subtasks", "start_step": 2250, "end_step": 2301, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the upper left area of the frame without moving. | Right hand: reach: Right hand reaches leftward toward the white hexagonal ring on the adjacent white pillar."}, {"label": "subtasks", "start_step": 2302, "end_step": 2324, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the upper left area of the frame without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal ring on top of the white pillar."}, {"label": "subtasks", "start_step": 2325, "end_step": 2354, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the upper left area of the frame without moving. | Right hand: lift: Right hand lifts the white hexagonal ring upward off the white pillar."}, {"label": "subtasks", "start_step": 2355, "end_step": 2391, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the upper left area of the frame without moving. | Right hand: transport: Right hand transports the white hexagonal ring rightward to the top of the purple rod."}, {"label": "subtasks", "start_step": 2392, "end_step": 2474, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the upper left area of the frame without moving. | Right hand: mate_release: Right hand aligns the white hexagonal ring with the purple rod, fits it onto the rod with slight adjustments, and releases the ring."}, {"label": "subtasks", "start_step": 2475, "end_step": 2511, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the upper left area of the frame without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal ring on the purple rod."}, {"label": "subtasks", "start_step": 2512, "end_step": 2534, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the upper left area of the frame without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal ring on the purple rod."}, {"label": "subtasks", "start_step": 2535, "end_step": 2564, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty at the upper left area of the frame without moving. | Right hand: press: Right hand presses the white hexagonal ring downward along the purple rod."}, {"label": "subtasks", "start_step": 2565, "end_step": 2579, "id": "reasoning-language-00064", "text": "Left hand: idle: Left hand remains empty at the upper left area of the frame without moving. | Right hand: release: Right hand releases the white hexagonal block at the top-right of the wooden base, with fingers opening to separate from the block."}, {"label": "goal", "start_step": 2567, "end_step": 2648, "id": "9da73938-16bb-43ec-8712-3b6dbb3bb93e"}, {"label": "subtasks", "start_step": 2580, "end_step": 2609, "id": "reasoning-language-00065", "text": "Left hand: idle: Left hand remains empty at the upper left area of the frame without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the black table, keeping fingers slightly open."}, {"label": "subtasks", "start_step": 2610, "end_step": 2661, "id": "reasoning-language-00066", "text": "Left hand: idle: Left hand remains empty at the upper left area of the frame without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, with fingers closing around the block to adjust the grip."}, {"label": "goal", "start_step": 2649, "end_step": 2954, "id": "85136921-a65b-4883-b609-55f56dbbaf37"}, {"label": "subtasks", "start_step": 2662, "end_step": 2684, "id": "reasoning-language-00067", "text": "Left hand: idle: Left hand remains empty at the upper left area of the frame without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and transports it towards the purple peg on the wooden block rack."}, {"label": "subtasks", "start_step": 2685, "end_step": 2954, "id": "reasoning-language-00068", "text": "Left hand: idle: Left hand remains empty at the upper left area of the frame without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple peg on the wooden rack, adjusting the block's position along the peg continuously."}, {"label": "subtasks", "start_step": 2955, "end_step": 2977, "id": "reasoning-language-00069", "text": "Left hand: idle: Left hand remains empty at the upper left area of the frame without moving. | Right hand: release: Right hand releases the white cylindrical block with purple top on the wooden base, fingers gradually opening and separating from the block."}, {"label": "goal", "start_step": 2955, "end_step": 3060, "id": "2d024b36-4ac8-4f94-bae2-2227e6e543ee"}, {"label": "subtasks", "start_step": 2978, "end_step": 3014, "id": "reasoning-language-00070", "text": "Left hand: idle: Left hand remains empty at the upper left area of the frame without moving. | Right hand: reach: Right hand reaches towards the green cubic block on the dark table surface, moving down and right."}, {"label": "subtasks", "start_step": 3015, "end_step": 3081, "id": "reasoning-language-00071", "text": "Left hand: idle: Left hand remains empty at the upper left area of the frame without moving. | Right hand: grasp: Right hand grasps the green cubic block on the dark table surface, fingers closing around the block to adjust the grip."}, {"label": "goal", "start_step": 3061, "end_step": 3462, "id": "9746d5df-bb83-4ce5-993d-8281e6e6ec0b"}, {"label": "subtasks", "start_step": 3082, "end_step": 3104, "id": "reasoning-language-00072", "text": "Left hand: idle: Left hand remains empty at the upper left area of the frame without moving. | Right hand: lift_transport: Right hand lifts the green block off the table surface and transports it leftward to the top of the rightmost white post on the wooden rack."}, {"label": "subtasks", "start_step": 3105, "end_step": 3254, "id": "reasoning-language-00073", "text": "Left hand: idle: Left hand remains empty at the upper left area of the frame without moving. | Right hand: mate: Right hand aligns the green block with the rightmost white post and lowers it onto the post, making small position adjustments to fit the block."}, {"label": "subtasks", "start_step": 3255, "end_step": 3291, "id": "reasoning-language-00074", "text": "Left hand: idle: Left hand remains empty at the upper left area of the frame without moving. | Right hand: lift: Right hand lifts the green block upward away from the rightmost white post for repositioning."}, {"label": "subtasks", "start_step": 3292, "end_step": 3449, "id": "reasoning-language-00075", "text": "Left hand: idle: Left hand remains empty at the upper left area of the frame without moving. | Right hand: mate: Right hand realigns the green block with the rightmost white post and lowers it fully onto the post, adjusting until the block is properly seated."}, {"label": "subtasks", "start_step": 3450, "end_step": 3464, "id": "reasoning-language-00076", "text": "Left hand: idle: Left hand remains empty at the upper left area of the frame without moving. | Right hand: release: Right hand releases the green block on the rightmost white post, with fingers opening and separating from the block."}, {"label": "home", "start_step": 3491, "end_step": 3521, "id": "KOqlmL84aRnmVGqWXBpRY"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: other:spread_fingers: Left hand spreads its fingers at the left side of the table, with no obvious position change. | Right hand: reach: Right hand moves leftward and downward toward the green hexagonal part on the table in front of the peg board."}, {"label": "subtasks", "start_step": 30, "end_step": 81, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves leftward and downward toward the green hexagonal part on the table in front of the peg board."}, {"label": "subtasks", "start_step": 82, "end_step": 127, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand grasps the green hexagonal part on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 128, "end_step": 179, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: hold: Right hand holds the green hexagonal part on the table without moving."}, {"label": "subtasks", "start_step": 180, "end_step": 209, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand grasps the green hexagonal piece on the black table, adjusting its grip with fingers."}, {"label": "subtasks", "start_step": 210, "end_step": 239, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the green hexagonal piece from the black table and transports it upward to the position above the leftmost peg on the wooden base."}, {"label": "subtasks", "start_step": 240, "end_step": 359, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand mates the green hexagonal piece onto the leftmost peg of the wooden base, aligning and inserting it into position."}, {"label": "subtasks", "start_step": 360, "end_step": 374, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: hold: Right hand holds the green hexagonal piece fitted on the leftmost peg of the wooden base without moving."}, {"label": "subtasks", "start_step": 375, "end_step": 411, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate_release: Right hand mates the white hexagonal piece onto the green peg of the middle wooden base and releases the piece."}, {"label": "subtasks", "start_step": 412, "end_step": 427, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand reaches downward toward the white hexagonal piece on the black table surface."}, {"label": "subtasks", "start_step": 428, "end_step": 509, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand grasps the white hexagonal piece on the black table surface with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 510, "end_step": 524, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: hold: Right hand holds the white hexagonal piece on the black table surface without moving."}, {"label": "subtasks", "start_step": 525, "end_step": 554, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand grasps the white hexagonal object on the black table surface, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 555, "end_step": 569, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal object from the table surface and transports it to the position above the leftmost front purple peg of the peg rack."}, {"label": "subtasks", "start_step": 570, "end_step": 659, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand mates the white hexagonal object onto the leftmost front purple peg by lowering it and fitting it into place."}, {"label": "subtasks", "start_step": 660, "end_step": 681, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: release: Right hand opens its fingers to release the green hexagonal piece on the purple rod of the wooden base."}, {"label": "subtasks", "start_step": 682, "end_step": 711, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves downward toward the white hexagonal object on the black table surface."}, {"label": "subtasks", "start_step": 712, "end_step": 741, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal object on the table."}, {"label": "subtasks", "start_step": 742, "end_step": 779, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: hold: Right hand holds the white hexagonal object on the table without moving."}, {"label": "subtasks", "start_step": 780, "end_step": 809, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand grasps the white hexagonal part on the black table, with fingers adjusting the grip."}, {"label": "subtasks", "start_step": 810, "end_step": 831, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal part from the black table and moves it toward the middle wooden rack."}, {"label": "subtasks", "start_step": 832, "end_step": 959, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand aligns the white hexagonal part with the front-left purple peg on the wooden rack and inserts it onto the peg, with slight position and orientation adjustments."}, {"label": "subtasks", "start_step": 960, "end_step": 997, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: press: Right hand presses the white hexagonal part down along the front-left purple peg to secure it."}, {"label": "subtasks", "start_step": 998, "end_step": 1109, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: hold: Right hand holds the white hexagonal part on the front-left purple peg without moving."}, {"label": "subtasks", "start_step": 1110, "end_step": 1154, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand adjusts its grip on the white hexagonal part on the front-left purple peg, with fingers slightly repositioning."}, {"label": "subtasks", "start_step": 1155, "end_step": 1177, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: place_release: Right hand places the white hexagonal block onto the middle purple peg of the wooden base and releases the block."}, {"label": "subtasks", "start_step": 1178, "end_step": 1199, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table in front of the wooden base."}, {"label": "subtasks", "start_step": 1200, "end_step": 1221, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing around it."}, {"label": "subtasks", "start_step": 1222, "end_step": 1244, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: hold: Right hand holds the white hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 1245, "end_step": 1274, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1275, "end_step": 1304, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it upward and leftward to the position above the purple peg of the wooden rack."}, {"label": "subtasks", "start_step": 1305, "end_step": 1394, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand mates the white hexagonal block with the purple peg by aligning the block's hole with the peg and inserting it downwards."}, {"label": "subtasks", "start_step": 1395, "end_step": 1417, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift: Right hand lifts the white hexagonal block slightly upward along the purple peg."}, {"label": "subtasks", "start_step": 1418, "end_step": 1454, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: place: Right hand places the white hexagonal block downward along the purple peg until it is supported by the peg."}, {"label": "subtasks", "start_step": 1455, "end_step": 1514, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: hold: Right hand holds the white hexagonal block on the purple peg without any movement."}, {"label": "subtasks", "start_step": 1515, "end_step": 1537, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: place_release: Right hand places the white hexagonal piece onto the base of the front-right purple peg and opens fingers to release the grip."}, {"label": "subtasks", "start_step": 1538, "end_step": 1589, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves downward toward the green hexagonal piece on the black table."}, {"label": "subtasks", "start_step": 1590, "end_step": 1611, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand grasps the green hexagonal piece on the table, with fingers closing around the piece to form a grip."}, {"label": "subtasks", "start_step": 1612, "end_step": 1634, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: hold: Right hand holds the green hexagonal piece on the black table without moving."}, {"label": "subtasks", "start_step": 1635, "end_step": 1657, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand grasps the green hollow hexagonal block on the black table surface, with fingers closing to adjust and form a stable grip."}, {"label": "subtasks", "start_step": 1658, "end_step": 1671, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the green hollow hexagonal block off the table and transports it to the position above the middle purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1672, "end_step": 1784, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand aligns the green hollow hexagonal block with the middle purple peg and slides the block down along the peg to complete the assembly."}, {"label": "subtasks", "start_step": 1785, "end_step": 1807, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate_release: Right hand mates the purple rod with the green block on the wooden base and releases the rod."}, {"label": "subtasks", "start_step": 1808, "end_step": 1829, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table below the wooden base."}, {"label": "subtasks", "start_step": 1830, "end_step": 1904, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers adjusting to stabilize the grip."}, {"label": "subtasks", "start_step": 1905, "end_step": 1927, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the black table and moves it towards the wooden pegboard in the middle of the table."}, {"label": "subtasks", "start_step": 1928, "end_step": 2024, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand mates the white hexagonal block with the purple vertical peg on the wooden pegboard, adjusting the block to fit onto the peg."}, {"label": "subtasks", "start_step": 2025, "end_step": 2039, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple peg without moving."}, {"label": "subtasks", "start_step": 2040, "end_step": 2061, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: release: Right hand releases the white cylindrical block on the stacked blocks, with fingers opening and separating from the block."}, {"label": "subtasks", "start_step": 2062, "end_step": 2077, "id": "reasoning-language-00050", "text": "Left hand: reach: Left hand moves upward and rightward toward the stacked blocks on the wooden base. | Right hand: reach: Right hand moves downward and rightward toward the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 2078, "end_step": 2099, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the upper left area of the frame without moving. | Right hand: reach: Right hand moves downward and rightward toward the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 2100, "end_step": 2129, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the upper left area of the frame without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing and adjusting to stabilize the grip."}, {"label": "subtasks", "start_step": 2130, "end_step": 2144, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the upper left area of the frame without moving. | Right hand: hold_lift: Right hand holds the white hexagonal block still on the table first, then lifts it slightly off the table surface."}, {"label": "subtasks", "start_step": 2145, "end_step": 2181, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the upper left area of the frame without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal ring from the right table surface and transports it left-upward to the top of the purple rod."}, {"label": "subtasks", "start_step": 2182, "end_step": 2249, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the upper left area of the frame without moving. | Right hand: mate_release: Right hand aligns the white hexagonal ring with the purple rod, fits it onto the rod with slight position adjustments, and releases the ring."}, {"label": "subtasks", "start_step": 2250, "end_step": 2301, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the upper left area of the frame without moving. | Right hand: reach: Right hand reaches leftward toward the white hexagonal ring on the adjacent white pillar."}, {"label": "subtasks", "start_step": 2302, "end_step": 2324, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the upper left area of the frame without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal ring on top of the white pillar."}, {"label": "subtasks", "start_step": 2325, "end_step": 2354, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the upper left area of the frame without moving. | Right hand: lift: Right hand lifts the white hexagonal ring upward off the white pillar."}, {"label": "subtasks", "start_step": 2355, "end_step": 2391, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the upper left area of the frame without moving. | Right hand: transport: Right hand transports the white hexagonal ring rightward to the top of the purple rod."}, {"label": "subtasks", "start_step": 2392, "end_step": 2474, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the upper left area of the frame without moving. | Right hand: mate_release: Right hand aligns the white hexagonal ring with the purple rod, fits it onto the rod with slight adjustments, and releases the ring."}, {"label": "subtasks", "start_step": 2475, "end_step": 2511, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the upper left area of the frame without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal ring on the purple rod."}, {"label": "subtasks", "start_step": 2512, "end_step": 2534, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the upper left area of the frame without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal ring on the purple rod."}, {"label": "subtasks", "start_step": 2535, "end_step": 2564, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty at the upper left area of the frame without moving. | Right hand: press: Right hand presses the white hexagonal ring downward along the purple rod."}, {"label": "subtasks", "start_step": 2565, "end_step": 2579, "id": "reasoning-language-00064", "text": "Left hand: idle: Left hand remains empty at the upper left area of the frame without moving. | Right hand: release: Right hand releases the white hexagonal block at the top-right of the wooden base, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 2580, "end_step": 2609, "id": "reasoning-language-00065", "text": "Left hand: idle: Left hand remains empty at the upper left area of the frame without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the black table, keeping fingers slightly open."}, {"label": "subtasks", "start_step": 2610, "end_step": 2661, "id": "reasoning-language-00066", "text": "Left hand: idle: Left hand remains empty at the upper left area of the frame without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, with fingers closing around the block to adjust the grip."}, {"label": "subtasks", "start_step": 2662, "end_step": 2684, "id": "reasoning-language-00067", "text": "Left hand: idle: Left hand remains empty at the upper left area of the frame without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and transports it towards the purple peg on the wooden block rack."}, {"label": "subtasks", "start_step": 2685, "end_step": 2954, "id": "reasoning-language-00068", "text": "Left hand: idle: Left hand remains empty at the upper left area of the frame without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple peg on the wooden rack, adjusting the block's position along the peg continuously."}, {"label": "subtasks", "start_step": 2955, "end_step": 2977, "id": "reasoning-language-00069", "text": "Left hand: idle: Left hand remains empty at the upper left area of the frame without moving. | Right hand: release: Right hand releases the white cylindrical block with purple top on the wooden base, fingers gradually opening and separating from the block."}, {"label": "subtasks", "start_step": 2978, "end_step": 3014, "id": "reasoning-language-00070", "text": "Left hand: idle: Left hand remains empty at the upper left area of the frame without moving. | Right hand: reach: Right hand reaches towards the green cubic block on the dark table surface, moving down and right."}, {"label": "subtasks", "start_step": 3015, "end_step": 3081, "id": "reasoning-language-00071", "text": "Left hand: idle: Left hand remains empty at the upper left area of the frame without moving. | Right hand: grasp: Right hand grasps the green cubic block on the dark table surface, fingers closing around the block to adjust the grip."}, {"label": "subtasks", "start_step": 3082, "end_step": 3104, "id": "reasoning-language-00072", "text": "Left hand: idle: Left hand remains empty at the upper left area of the frame without moving. | Right hand: lift_transport: Right hand lifts the green block off the table surface and transports it leftward to the top of the rightmost white post on the wooden rack."}, {"label": "subtasks", "start_step": 3105, "end_step": 3254, "id": "reasoning-language-00073", "text": "Left hand: idle: Left hand remains empty at the upper left area of the frame without moving. | Right hand: mate: Right hand aligns the green block with the rightmost white post and lowers it onto the post, making small position adjustments to fit the block."}, {"label": "subtasks", "start_step": 3255, "end_step": 3291, "id": "reasoning-language-00074", "text": "Left hand: idle: Left hand remains empty at the upper left area of the frame without moving. | Right hand: lift: Right hand lifts the green block upward away from the rightmost white post for repositioning."}, {"label": "subtasks", "start_step": 3292, "end_step": 3449, "id": "reasoning-language-00075", "text": "Left hand: idle: Left hand remains empty at the upper left area of the frame without moving. | Right hand: mate: Right hand realigns the green block with the rightmost white post and lowers it fully onto the post, adjusting until the block is properly seated."}, {"label": "subtasks", "start_step": 3450, "end_step": 3464, "id": "reasoning-language-00076", "text": "Left hand: idle: Left hand remains empty at the upper left area of the frame without moving. | Right hand: release: Right hand releases the green block on the rightmost white post, with fingers opening and separating from the block."}], "episode_index": 12}
+{"source_uid": "af79f39548164715", "num_frames": 3275, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 74, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves towards the green hexagonal block located on the black table below the wooden peg base."}, {"label": "goal", "start_step": 0, "end_step": 120, "id": "6048054f-085d-450e-bef5-d0885490b181"}, {"label": "valid", "start_step": 0, "end_step": 3242, "id": "o5JZ7PnS9ijy6IHCRi5XO"}, {"label": "subtasks", "start_step": 75, "end_step": 141, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand adjusts its fingers to grasp the green hexagonal block on the black table."}, {"label": "goal", "start_step": 121, "end_step": 268, "id": "8a480112-4806-43f9-a40f-abdb71701459"}, {"label": "subtasks", "start_step": 142, "end_step": 164, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it to above the leftmost purple rod of the wooden rack."}, {"label": "subtasks", "start_step": 165, "end_step": 187, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand aligns the green block with the leftmost purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 188, "end_step": 254, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: press: Right hand presses the green block down along the purple rod to the bottom of the wooden rack."}, {"label": "subtasks", "start_step": 255, "end_step": 291, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: place: Right hand places the white hexagonal block onto the green post fixed on the wooden base."}, {"label": "goal", "start_step": 269, "end_step": 330, "id": "ffbcbcbb-72d2-40cd-b993-815b97a451db"}, {"label": "subtasks", "start_step": 292, "end_step": 314, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves downward towards the white hexagonal block lying on the black tabletop."}, {"label": "subtasks", "start_step": 315, "end_step": 351, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the black tabletop."}, {"label": "goal", "start_step": 331, "end_step": 448, "id": "078f8f79-276a-4420-be1e-2cbda7ef8705"}, {"label": "subtasks", "start_step": 352, "end_step": 367, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it towards the leftmost purple rod on the wooden base."}, {"label": "subtasks", "start_step": 368, "end_step": 397, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand aligns the white hexagonal block with the leftmost purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 398, "end_step": 434, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: press: Right hand presses the white hexagonal block down along the purple rod to fix it in position."}, {"label": "subtasks", "start_step": 435, "end_step": 464, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand mates the white cylindrical sleeve onto the leftmost purple peg on the wooden base."}, {"label": "goal", "start_step": 449, "end_step": 530, "id": "e2c000fc-66dc-4c3f-b107-3ea216f8af50"}, {"label": "subtasks", "start_step": 465, "end_step": 494, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: retreat: Right hand retreats downward away from the wooden peg base."}, {"label": "subtasks", "start_step": 495, "end_step": 524, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand reaches toward the white hexagonal sleeve on the black tabletop."}, {"label": "subtasks", "start_step": 525, "end_step": 554, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand grasps the white hexagonal hollow block on the black table, with fingers closing to adjust the grip."}, {"label": "goal", "start_step": 531, "end_step": 658, "id": "ec3a165d-c991-409e-b9a2-996082f1ff73"}, {"label": "subtasks", "start_step": 555, "end_step": 584, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal hollow block from the table and transports it towards the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 585, "end_step": 644, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand mates the white hexagonal hollow block onto the purple rod of the wooden rack, adjusting to fit it into place."}, {"label": "subtasks", "start_step": 645, "end_step": 674, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: release: Right hand releases the white cylindrical block placed on the purple rod, fingers open to separate from the block."}, {"label": "goal", "start_step": 659, "end_step": 728, "id": "26178fb2-9971-4314-8447-09ef0bd0455c"}, {"label": "subtasks", "start_step": 675, "end_step": 711, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves downward towards the white cylindrical block on the black table surface."}, {"label": "subtasks", "start_step": 712, "end_step": 741, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand contacts the white cylindrical block on the table, fingers start to close to form a stable grasp."}, {"label": "goal", "start_step": 729, "end_step": 882, "id": "1ebab583-b721-4351-96b7-d2125feb9a97"}, {"label": "subtasks", "start_step": 742, "end_step": 764, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 765, "end_step": 869, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it onto the rod to complete assembly."}, {"label": "subtasks", "start_step": 870, "end_step": 899, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: place: Right hand places the white ring onto the purple rod fixed on the wooden base."}, {"label": "goal", "start_step": 883, "end_step": 948, "id": "2098fac9-567f-4bed-aa79-75294279a702"}, {"label": "subtasks", "start_step": 900, "end_step": 929, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves downward toward the green square block placed on the table surface."}, {"label": "subtasks", "start_step": 930, "end_step": 967, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand grasps the green square block on the table surface, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 949, "end_step": 1076, "id": "0529cc32-3b66-4a20-811a-e49a1b1dd93b"}, {"label": "subtasks", "start_step": 968, "end_step": 989, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it towards the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 990, "end_step": 1064, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand aligns the green block with the purple rod on the wooden rack and fits the block onto the rod."}, {"label": "subtasks", "start_step": 1065, "end_step": 1094, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: place_release: Right hand places the green block onto the peg of the wooden base and releases it."}, {"label": "goal", "start_step": 1077, "end_step": 1168, "id": "f9f6cb90-489d-40b3-8485-98e94cc6960c"}, {"label": "subtasks", "start_step": 1095, "end_step": 1124, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves downwards towards the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 1125, "end_step": 1184, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand adjusts fingers to grasp the white hexagonal block on the black tabletop."}, {"label": "goal", "start_step": 1169, "end_step": 1298, "id": "b7b71ea1-d0ab-415d-9a54-192dae7cb5a6"}, {"label": "subtasks", "start_step": 1185, "end_step": 1199, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal object off the table and transports it toward the wooden rack."}, {"label": "subtasks", "start_step": 1200, "end_step": 1214, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand aligns the white hexagonal object with the target purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1215, "end_step": 1289, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: press: Right hand presses the white hexagonal object down onto the purple rod to secure the assembly."}, {"label": "subtasks", "start_step": 1290, "end_step": 1319, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: place: Right hand places the white cylindrical sleeve onto the purple rod of the wooden base."}, {"label": "goal", "start_step": 1299, "end_step": 1368, "id": "70a4a8cb-a7d2-4b7e-a195-a7c49a66e962"}, {"label": "subtasks", "start_step": 1320, "end_step": 1357, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves toward the white cylindrical sleeve on the black table surface."}, {"label": "subtasks", "start_step": 1358, "end_step": 1387, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand closes fingers to grasp the white cylindrical sleeve on the black table surface."}, {"label": "goal", "start_step": 1369, "end_step": 1538, "id": "955942a8-4451-46f8-a816-8f5900c352b4"}, {"label": "subtasks", "start_step": 1388, "end_step": 1401, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1402, "end_step": 1484, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1485, "end_step": 1529, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: idle: Right hand remains empty near the wooden base without moving."}, {"label": "subtasks", "start_step": 1530, "end_step": 1551, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: release: Right hand releases the white block on the purple rod of the wooden base."}, {"label": "goal", "start_step": 1539, "end_step": 1634, "id": "701552ab-2d3a-450f-990c-93da842e7993"}, {"label": "subtasks", "start_step": 1552, "end_step": 1604, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block placed on the table."}, {"label": "subtasks", "start_step": 1605, "end_step": 1634, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1635, "end_step": 1664, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: transport: Right hand transports the white ring object from the right table surface towards the wooden block rack."}, {"label": "goal", "start_step": 1635, "end_step": 1760, "id": "7457e9a1-72b0-4103-aa6e-d6beb79340e8"}, {"label": "subtasks", "start_step": 1665, "end_step": 1747, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: place: Right hand places the white ring object onto the corresponding post on the wooden block rack and adjusts its position slightly."}, {"label": "subtasks", "start_step": 1748, "end_step": 1769, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: release: Right hand releases the white ring object placed on the wooden block rack post."}, {"label": "goal", "start_step": 1761, "end_step": 1844, "id": "2c6d68d5-d09f-493b-90f3-d2d08c6a02c1"}, {"label": "subtasks", "start_step": 1770, "end_step": 1791, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand reaches towards the green block on the table surface."}, {"label": "subtasks", "start_step": 1792, "end_step": 1844, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand grasps the green block on the table, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 1845, "end_step": 1889, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the green block from the table and transports it above the white bottle with a purple rod."}, {"label": "goal", "start_step": 1845, "end_step": 3206, "id": "8cc05741-083d-4802-9737-414037c7c4f7"}, {"label": "subtasks", "start_step": 1890, "end_step": 2331, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand aligns the green block with the purple rod of the white bottle to attempt insertion, until the green block falls onto the table."}, {"label": "subtasks", "start_step": 2332, "end_step": 2691, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves toward the green block that dropped on the table."}, {"label": "subtasks", "start_step": 2692, "end_step": 2721, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand grasps the green block on the table."}, {"label": "subtasks", "start_step": 2722, "end_step": 2879, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reorient: Right hand rotates the green block to adjust its orientation, making the hole face upward."}, {"label": "subtasks", "start_step": 2880, "end_step": 2917, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the adjusted green block from the table and transports it above the white bottle with the purple rod."}, {"label": "subtasks", "start_step": 2918, "end_step": 3097, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand aligns the hole of the green block with the purple rod and inserts the block onto the rod."}, {"label": "subtasks", "start_step": 3098, "end_step": 3209, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: press: Right hand presses the green block down to fully fit it onto the white bottle."}, {"label": "home", "start_step": 3243, "end_step": 3274, "id": "WqpStV3CwxlJPUF_f-LNd"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 74, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves towards the green hexagonal block located on the black table below the wooden peg base."}, {"label": "subtasks", "start_step": 75, "end_step": 141, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand adjusts its fingers to grasp the green hexagonal block on the black table."}, {"label": "subtasks", "start_step": 142, "end_step": 164, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it to above the leftmost purple rod of the wooden rack."}, {"label": "subtasks", "start_step": 165, "end_step": 187, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand aligns the green block with the leftmost purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 188, "end_step": 254, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: press: Right hand presses the green block down along the purple rod to the bottom of the wooden rack."}, {"label": "subtasks", "start_step": 255, "end_step": 291, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: place: Right hand places the white hexagonal block onto the green post fixed on the wooden base."}, {"label": "subtasks", "start_step": 292, "end_step": 314, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves downward towards the white hexagonal block lying on the black tabletop."}, {"label": "subtasks", "start_step": 315, "end_step": 351, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 352, "end_step": 367, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it towards the leftmost purple rod on the wooden base."}, {"label": "subtasks", "start_step": 368, "end_step": 397, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand aligns the white hexagonal block with the leftmost purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 398, "end_step": 434, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: press: Right hand presses the white hexagonal block down along the purple rod to fix it in position."}, {"label": "subtasks", "start_step": 435, "end_step": 464, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand mates the white cylindrical sleeve onto the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 465, "end_step": 494, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: retreat: Right hand retreats downward away from the wooden peg base."}, {"label": "subtasks", "start_step": 495, "end_step": 524, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand reaches toward the white hexagonal sleeve on the black tabletop."}, {"label": "subtasks", "start_step": 525, "end_step": 554, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand grasps the white hexagonal hollow block on the black table, with fingers closing to adjust the grip."}, {"label": "subtasks", "start_step": 555, "end_step": 584, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal hollow block from the table and transports it towards the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 585, "end_step": 644, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand mates the white hexagonal hollow block onto the purple rod of the wooden rack, adjusting to fit it into place."}, {"label": "subtasks", "start_step": 645, "end_step": 674, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: release: Right hand releases the white cylindrical block placed on the purple rod, fingers open to separate from the block."}, {"label": "subtasks", "start_step": 675, "end_step": 711, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves downward towards the white cylindrical block on the black table surface."}, {"label": "subtasks", "start_step": 712, "end_step": 741, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand contacts the white cylindrical block on the table, fingers start to close to form a stable grasp."}, {"label": "subtasks", "start_step": 742, "end_step": 764, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 765, "end_step": 869, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it onto the rod to complete assembly."}, {"label": "subtasks", "start_step": 870, "end_step": 899, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: place: Right hand places the white ring onto the purple rod fixed on the wooden base."}, {"label": "subtasks", "start_step": 900, "end_step": 929, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves downward toward the green square block placed on the table surface."}, {"label": "subtasks", "start_step": 930, "end_step": 967, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand grasps the green square block on the table surface, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 968, "end_step": 989, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it towards the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 990, "end_step": 1064, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand aligns the green block with the purple rod on the wooden rack and fits the block onto the rod."}, {"label": "subtasks", "start_step": 1065, "end_step": 1094, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: place_release: Right hand places the green block onto the peg of the wooden base and releases it."}, {"label": "subtasks", "start_step": 1095, "end_step": 1124, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves downwards towards the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 1125, "end_step": 1184, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand adjusts fingers to grasp the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 1185, "end_step": 1199, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal object off the table and transports it toward the wooden rack."}, {"label": "subtasks", "start_step": 1200, "end_step": 1214, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand aligns the white hexagonal object with the target purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1215, "end_step": 1289, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: press: Right hand presses the white hexagonal object down onto the purple rod to secure the assembly."}, {"label": "subtasks", "start_step": 1290, "end_step": 1319, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: place: Right hand places the white cylindrical sleeve onto the purple rod of the wooden base."}, {"label": "subtasks", "start_step": 1320, "end_step": 1357, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves toward the white cylindrical sleeve on the black table surface."}, {"label": "subtasks", "start_step": 1358, "end_step": 1387, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand closes fingers to grasp the white cylindrical sleeve on the black table surface."}, {"label": "subtasks", "start_step": 1388, "end_step": 1401, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1402, "end_step": 1484, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1485, "end_step": 1529, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: idle: Right hand remains empty near the wooden base without moving."}, {"label": "subtasks", "start_step": 1530, "end_step": 1551, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: release: Right hand releases the white block on the purple rod of the wooden base."}, {"label": "subtasks", "start_step": 1552, "end_step": 1604, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block placed on the table."}, {"label": "subtasks", "start_step": 1605, "end_step": 1634, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1635, "end_step": 1664, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: transport: Right hand transports the white ring object from the right table surface towards the wooden block rack."}, {"label": "subtasks", "start_step": 1665, "end_step": 1747, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: place: Right hand places the white ring object onto the corresponding post on the wooden block rack and adjusts its position slightly."}, {"label": "subtasks", "start_step": 1748, "end_step": 1769, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: release: Right hand releases the white ring object placed on the wooden block rack post."}, {"label": "subtasks", "start_step": 1770, "end_step": 1791, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand reaches towards the green block on the table surface."}, {"label": "subtasks", "start_step": 1792, "end_step": 1844, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand grasps the green block on the table, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 1845, "end_step": 1889, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the green block from the table and transports it above the white bottle with a purple rod."}, {"label": "subtasks", "start_step": 1890, "end_step": 2331, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand aligns the green block with the purple rod of the white bottle to attempt insertion, until the green block falls onto the table."}, {"label": "subtasks", "start_step": 2332, "end_step": 2691, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves toward the green block that dropped on the table."}, {"label": "subtasks", "start_step": 2692, "end_step": 2721, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand grasps the green block on the table."}, {"label": "subtasks", "start_step": 2722, "end_step": 2879, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reorient: Right hand rotates the green block to adjust its orientation, making the hole face upward."}, {"label": "subtasks", "start_step": 2880, "end_step": 2917, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the adjusted green block from the table and transports it above the white bottle with the purple rod."}, {"label": "subtasks", "start_step": 2918, "end_step": 3097, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand aligns the hole of the green block with the purple rod and inserts the block onto the rod."}, {"label": "subtasks", "start_step": 3098, "end_step": 3209, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: press: Right hand presses the green block down to fully fit it onto the white bottle."}], "episode_index": 13}
+{"source_uid": "9a5ace26e09af399", "num_frames": 2561, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 37, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: idle: Right hand remains empty at the right initial position with extended fingers, without any observable movement."}, {"label": "goal", "start_step": 0, "end_step": 114, "id": "1a92db1e-3c6c-441c-9cfd-bf89796f2382"}, {"label": "valid", "start_step": 0, "end_step": 2529, "id": "Nu3BuMP9gr3HROf2XAsfP"}, {"label": "subtasks", "start_step": 38, "end_step": 81, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: reach: Right hand moves downward and leftward toward the green hexagonal block on the table surface, with fingers adjusting slightly during movement."}, {"label": "subtasks", "start_step": 82, "end_step": 134, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: grasp: Right hand makes contact with the green hexagonal block on the table, fingers close and make slight adjustments to establish a grip on the block."}, {"label": "goal", "start_step": 115, "end_step": 262, "id": "310905d8-1807-44b6-83c8-e4e0ffbe69a7"}, {"label": "subtasks", "start_step": 135, "end_step": 149, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: lift: Right hand moves vertically upwards to lift the gripped green hexagonal block until the block is fully separated from the table surface."}, {"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 workspace without any observable movement. | Right hand: transport: Right hand moves the lifted green hexagonal block upwards and toward the wooden peg base to position the block over the target purple vertical peg."}, {"label": "subtasks", "start_step": 172, "end_step": 254, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the target purple peg, lowers the block onto the peg, and makes small positional adjustments to seat the block on the rod."}, {"label": "subtasks", "start_step": 255, "end_step": 299, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: reach: Right hand moves downward from the wooden peg rack toward the closest white hexagonal block on the black table surface."}, {"label": "goal", "start_step": 263, "end_step": 414, "id": "6811038b-cd28-49c8-a4e6-bc32876ae02b"}, {"label": "subtasks", "start_step": 300, "end_step": 434, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: grasp: Right hand contacts the white hexagonal block, closes fingers around the block, and makes slight adjustments to finger placement and block orientation to secure a stable grip."}, {"label": "goal", "start_step": 415, "end_step": 534, "id": "e0ea1227-8897-463b-801a-f42afb3b8acb"}, {"label": "subtasks", "start_step": 435, "end_step": 471, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table and moves it upward to position above the target green post on the wooden block assembly."}, {"label": "subtasks", "start_step": 472, "end_step": 524, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the target green post and lowers the nut to fit onto the post."}, {"label": "subtasks", "start_step": 525, "end_step": 561, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: mate_release: Right hand aligns the white cylindrical block with the purple vertical peg on the wooden base, mates the block onto the peg and releases the block."}, {"label": "goal", "start_step": 535, "end_step": 634, "id": "78e2c839-eaf9-422d-860c-086a75c6d104"}, {"label": "subtasks", "start_step": 562, "end_step": 584, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: reach: Right hand moves downwards empty-handed to approach the white hexagonal block placed on the black table surface."}, {"label": "subtasks", "start_step": 585, "end_step": 659, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: grasp: Right hand adjusts finger positions and closes fingers around the white hexagonal block on the table to establish a stable grasp."}, {"label": "goal", "start_step": 635, "end_step": 780, "id": "cce60405-42f8-489a-99bc-e26c45aeebcb"}, {"label": "subtasks", "start_step": 660, "end_step": 689, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block completely off the table surface and moves it upward toward the wooden peg rack."}, {"label": "subtasks", "start_step": 690, "end_step": 779, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the green peg on the wooden rack, adjusting position slightly while lowering the block to fit onto the peg."}, {"label": "subtasks", "start_step": 780, "end_step": 831, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: reach: Right hand moves downward from the upper area of the wooden block assembly toward the white hexagonal block resting on the table surface in front of the assembly, keeping fingers slightly open as it approaches the target block."}, {"label": "goal", "start_step": 781, "end_step": 850, "id": "5a537e62-13ae-4dc6-8813-a1028bb1c19c"}, {"label": "subtasks", "start_step": 832, "end_step": 854, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, making small adjustments to finger contact points to establish a stable grip on the block while the block remains on the table surface."}, {"label": "goal", "start_step": 851, "end_step": 990, "id": "312bdd0c-6198-446b-8887-7c1ee059c7be"}, {"label": "subtasks", "start_step": 855, "end_step": 891, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block completely off the table surface while moving the block upward toward the empty purple vertical rod mounted on the wooden assembly base."}, {"label": "subtasks", "start_step": 892, "end_step": 959, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: mate: Right hand adjusts the orientation and position of the held white hexagonal block to align its central hole with the top of the purple rod, fitting the block over the rod to form the assembly connection."}, {"label": "subtasks", "start_step": 960, "end_step": 989, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: place: Right hand lowers the mated white hexagonal block down along the purple rod until the block rests stably on the wooden base of the assembly, maintaining contact with the block as it settles."}, {"label": "subtasks", "start_step": 990, "end_step": 1034, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: reach: Right hand moves downward from the position above the wooden block assembly stand toward the green hexagonal block placed on the dark table surface, with fingers extended open as it approaches the target block."}, {"label": "goal", "start_step": 991, "end_step": 1054, "id": "4e5fd166-07ce-4bec-9c40-26a7e6d142a3"}, {"label": "subtasks", "start_step": 1035, "end_step": 1071, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: grasp: Right hand closes fingers around the green hexagonal block on the table, making slight adjustments to finger contact positions to establish a stable grip on the block while the block remains on the table surface."}, {"label": "goal", "start_step": 1055, "end_step": 1186, "id": "b4072359-2d2c-4ac7-8c4f-0bed106cc5b7"}, {"label": "subtasks", "start_step": 1072, "end_step": 1109, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: lift_transport: Right hand lifts the gripped green hexagonal block completely off the table surface, moves the block upward and leftward toward the wooden assembly stand, and positions the block above an empty purple peg on the stand."}, {"label": "subtasks", "start_step": 1110, "end_step": 1184, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the target purple peg, lowers the block to fit it onto the peg, and makes small positional adjustments to properly seat the block on the peg."}, {"label": "subtasks", "start_step": 1185, "end_step": 1214, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: place_release: Right hand holds the white cylindrical block, lowers it onto the green block on the wooden base, opening fingers to release the stably supported block."}, {"label": "goal", "start_step": 1187, "end_step": 1350, "id": "73a241ca-a655-4dd6-8fab-0474c940bb98"}, {"label": "subtasks", "start_step": 1215, "end_step": 1251, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: reach: Right hand moves downward with empty hand from the wooden base area toward the green block placed on the black table surface."}, {"label": "subtasks", "start_step": 1252, "end_step": 1349, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: grasp: Right hand makes contact with the green block on the table, adjusting finger and wrist positions continuously to form a stable grasp of the block."}, {"label": "subtasks", "start_step": 1350, "end_step": 1379, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: lift: Right hand holds the white hexagonal block resting on the dark table surface, lifts the block upward until it is fully separated from the table."}, {"label": "goal", "start_step": 1351, "end_step": 1626, "id": "93620067-86e0-4d54-9566-f756c519ef31"}, {"label": "subtasks", "start_step": 1380, "end_step": 1409, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: transport: Right hand carries the lifted white hexagonal block through the air, moving it toward the wooden peg base until it is positioned above the purple rod."}, {"label": "subtasks", "start_step": 1410, "end_step": 1619, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: mate: Right hand adjusts the position and orientation of the white hexagonal block, aligning its central hole with the purple rod on the wooden base to fit the block onto the rod."}, {"label": "subtasks", "start_step": 1620, "end_step": 1657, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: place_release: Right hand holds the final white cylindrical block, places it into the matching hole on the wooden base, releases the block as fingers open to separate from the block surface."}, {"label": "goal", "start_step": 1627, "end_step": 1728, "id": "e70e20f3-de91-49d0-8bc6-02d093d11ba8"}, {"label": "subtasks", "start_step": 1658, "end_step": 1694, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: reach: Right hand moves in an empty state downward toward the upper white hexagonal nut on the table, approaching the target without making physical contact."}, {"label": "subtasks", "start_step": 1695, "end_step": 1747, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: grasp: Right hand makes contact with the upper white hexagonal nut, closes fingers around the nut, and makes small adjustments to establish a stable grip."}, {"label": "goal", "start_step": 1729, "end_step": 1968, "id": "c3c81f19-5d0a-475e-9613-c5cfebef8ac2"}, {"label": "subtasks", "start_step": 1748, "end_step": 1777, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and moves it upward to the position directly above the purple rod on the stacked block assembly."}, {"label": "subtasks", "start_step": 1778, "end_step": 1957, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: mate: Right hand makes small wrist and finger adjustments to the white hexagonal block's position and orientation to align its central hole with the purple rod on the assembly base."}, {"label": "subtasks", "start_step": 1958, "end_step": 1964, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: place: Right hand lowers the aligned white hexagonal block down the purple rod until it rests stably on the top of the existing stacked blocks, maintaining contact with the block."}, {"label": "subtasks", "start_step": 1965, "end_step": 1987, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: idle: Right hand remains empty above the wooden block assembly without observable movement."}, {"label": "goal", "start_step": 1969, "end_step": 2052, "id": "6e77a4dd-3e83-48f1-b657-e937bf389213"}, {"label": "subtasks", "start_step": 1988, "end_step": 2031, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: reach: Right hand moves down and right toward the white hexagonal block on the dark table surface while remaining empty."}, {"label": "subtasks", "start_step": 2032, "end_step": 2069, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: grasp: Right hand closes its fingers around the white hexagonal block on the table to establish a stable grasp."}, {"label": "goal", "start_step": 2053, "end_step": 2218, "id": "e5e83ed6-6179-4c59-81a2-ed4f7f36e6b0"}, {"label": "subtasks", "start_step": 2070, "end_step": 2107, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block completely off the table surface and transports it upward and leftward to the position directly above the empty purple peg on the wooden stand."}, {"label": "subtasks", "start_step": 2108, "end_step": 2204, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: mate: Right hand adjusts the position and orientation of the white hexagonal block to align its central hole with the purple peg, lowering the block to fit onto the peg."}, {"label": "subtasks", "start_step": 2205, "end_step": 2227, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: release: Right hand releases the white cylindrical block on the wooden base, fingers opening to separate from the block top."}, {"label": "goal", "start_step": 2219, "end_step": 2304, "id": "07671691-64c6-47e3-95bd-f3a9b9e5974e"}, {"label": "subtasks", "start_step": 2228, "end_step": 2257, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: reach: Right hand moves downward toward the green square block placed on the black table surface."}, {"label": "subtasks", "start_step": 2258, "end_step": 2309, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: grasp: Right hand adjusts finger positions to grasp the green square block on the table surface."}, {"label": "goal", "start_step": 2305, "end_step": 2486, "id": "2084ba19-159b-4425-a1d6-2136b92bb225"}, {"label": "subtasks", "start_step": 2310, "end_step": 2354, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: lift_transport: Right hand lifts the grasped green block off the dark table surface and moves it upward to position directly above the empty target peg on the wooden block stand."}, {"label": "subtasks", "start_step": 2355, "end_step": 2459, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: mate: Right hand aligns the hollow hole of the grasped green block with the target white peg on the wooden stand, lowers the block to fit it securely onto the peg while making small positional adjustments."}, {"label": "subtasks", "start_step": 2460, "end_step": 2474, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: release: Right hand opens fingers to release the green block fitted on the peg, fully breaking contact with the block surface."}, {"label": "subtasks", "start_step": 2475, "end_step": 2489, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: retreat: Right hand moves the empty hand backward, moving away from the area of the wooden block stand."}, {"label": "home", "start_step": 2530, "end_step": 2560, "id": "q5-pj1cBnH7JUlOyWZnJk"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 37, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: idle: Right hand remains empty at the right initial position with extended fingers, without any observable movement."}, {"label": "subtasks", "start_step": 38, "end_step": 81, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: reach: Right hand moves downward and leftward toward the green hexagonal block on the table surface, with fingers adjusting slightly during movement."}, {"label": "subtasks", "start_step": 82, "end_step": 134, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: grasp: Right hand makes contact with the green hexagonal block on the table, fingers close and make slight adjustments to establish a grip on the block."}, {"label": "subtasks", "start_step": 135, "end_step": 149, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: lift: Right hand moves vertically upwards to lift the gripped green hexagonal block until the block is fully separated from the table surface."}, {"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 workspace without any observable movement. | Right hand: transport: Right hand moves the lifted green hexagonal block upwards and toward the wooden peg base to position the block over the target purple vertical peg."}, {"label": "subtasks", "start_step": 172, "end_step": 254, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the target purple peg, lowers the block onto the peg, and makes small positional adjustments to seat the block on the rod."}, {"label": "subtasks", "start_step": 255, "end_step": 299, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: reach: Right hand moves downward from the wooden peg rack toward the closest white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 300, "end_step": 434, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: grasp: Right hand contacts the white hexagonal block, closes fingers around the block, and makes slight adjustments to finger placement and block orientation to secure a stable grip."}, {"label": "subtasks", "start_step": 435, "end_step": 471, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table and moves it upward to position above the target green post on the wooden block assembly."}, {"label": "subtasks", "start_step": 472, "end_step": 524, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the target green post and lowers the nut to fit onto the post."}, {"label": "subtasks", "start_step": 525, "end_step": 561, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: mate_release: Right hand aligns the white cylindrical block with the purple vertical peg on the wooden base, mates the block onto the peg and releases the block."}, {"label": "subtasks", "start_step": 562, "end_step": 584, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: reach: Right hand moves downwards empty-handed to approach the white hexagonal block placed on the black table surface."}, {"label": "subtasks", "start_step": 585, "end_step": 659, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: grasp: Right hand adjusts finger positions and closes fingers around the white hexagonal block on the table to establish a stable grasp."}, {"label": "subtasks", "start_step": 660, "end_step": 689, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block completely off the table surface and moves it upward toward the wooden peg rack."}, {"label": "subtasks", "start_step": 690, "end_step": 779, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the green peg on the wooden rack, adjusting position slightly while lowering the block to fit onto the peg."}, {"label": "subtasks", "start_step": 780, "end_step": 831, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: reach: Right hand moves downward from the upper area of the wooden block assembly toward the white hexagonal block resting on the table surface in front of the assembly, keeping fingers slightly open as it approaches the target block."}, {"label": "subtasks", "start_step": 832, "end_step": 854, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, making small adjustments to finger contact points to establish a stable grip on the block while the block remains on the table surface."}, {"label": "subtasks", "start_step": 855, "end_step": 891, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block completely off the table surface while moving the block upward toward the empty purple vertical rod mounted on the wooden assembly base."}, {"label": "subtasks", "start_step": 892, "end_step": 959, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: mate: Right hand adjusts the orientation and position of the held white hexagonal block to align its central hole with the top of the purple rod, fitting the block over the rod to form the assembly connection."}, {"label": "subtasks", "start_step": 960, "end_step": 989, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: place: Right hand lowers the mated white hexagonal block down along the purple rod until the block rests stably on the wooden base of the assembly, maintaining contact with the block as it settles."}, {"label": "subtasks", "start_step": 990, "end_step": 1034, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: reach: Right hand moves downward from the position above the wooden block assembly stand toward the green hexagonal block placed on the dark table surface, with fingers extended open as it approaches the target block."}, {"label": "subtasks", "start_step": 1035, "end_step": 1071, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: grasp: Right hand closes fingers around the green hexagonal block on the table, making slight adjustments to finger contact positions to establish a stable grip on the block while the block remains on the table surface."}, {"label": "subtasks", "start_step": 1072, "end_step": 1109, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: lift_transport: Right hand lifts the gripped green hexagonal block completely off the table surface, moves the block upward and leftward toward the wooden assembly stand, and positions the block above an empty purple peg on the stand."}, {"label": "subtasks", "start_step": 1110, "end_step": 1184, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the target purple peg, lowers the block to fit it onto the peg, and makes small positional adjustments to properly seat the block on the peg."}, {"label": "subtasks", "start_step": 1185, "end_step": 1214, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: place_release: Right hand holds the white cylindrical block, lowers it onto the green block on the wooden base, opening fingers to release the stably supported block."}, {"label": "subtasks", "start_step": 1215, "end_step": 1251, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: reach: Right hand moves downward with empty hand from the wooden base area toward the green block placed on the black table surface."}, {"label": "subtasks", "start_step": 1252, "end_step": 1349, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: grasp: Right hand makes contact with the green block on the table, adjusting finger and wrist positions continuously to form a stable grasp of the block."}, {"label": "subtasks", "start_step": 1350, "end_step": 1379, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: lift: Right hand holds the white hexagonal block resting on the dark table surface, lifts the block upward until it is fully separated from the table."}, {"label": "subtasks", "start_step": 1380, "end_step": 1409, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: transport: Right hand carries the lifted white hexagonal block through the air, moving it toward the wooden peg base until it is positioned above the purple rod."}, {"label": "subtasks", "start_step": 1410, "end_step": 1619, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: mate: Right hand adjusts the position and orientation of the white hexagonal block, aligning its central hole with the purple rod on the wooden base to fit the block onto the rod."}, {"label": "subtasks", "start_step": 1620, "end_step": 1657, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: place_release: Right hand holds the final white cylindrical block, places it into the matching hole on the wooden base, releases the block as fingers open to separate from the block surface."}, {"label": "subtasks", "start_step": 1658, "end_step": 1694, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: reach: Right hand moves in an empty state downward toward the upper white hexagonal nut on the table, approaching the target without making physical contact."}, {"label": "subtasks", "start_step": 1695, "end_step": 1747, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: grasp: Right hand makes contact with the upper white hexagonal nut, closes fingers around the nut, and makes small adjustments to establish a stable grip."}, {"label": "subtasks", "start_step": 1748, "end_step": 1777, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and moves it upward to the position directly above the purple rod on the stacked block assembly."}, {"label": "subtasks", "start_step": 1778, "end_step": 1957, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: mate: Right hand makes small wrist and finger adjustments to the white hexagonal block's position and orientation to align its central hole with the purple rod on the assembly base."}, {"label": "subtasks", "start_step": 1958, "end_step": 1964, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: place: Right hand lowers the aligned white hexagonal block down the purple rod until it rests stably on the top of the existing stacked blocks, maintaining contact with the block."}, {"label": "subtasks", "start_step": 1965, "end_step": 1987, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: idle: Right hand remains empty above the wooden block assembly without observable movement."}, {"label": "subtasks", "start_step": 1988, "end_step": 2031, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: reach: Right hand moves down and right toward the white hexagonal block on the dark table surface while remaining empty."}, {"label": "subtasks", "start_step": 2032, "end_step": 2069, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: grasp: Right hand closes its fingers around the white hexagonal block on the table to establish a stable grasp."}, {"label": "subtasks", "start_step": 2070, "end_step": 2107, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block completely off the table surface and transports it upward and leftward to the position directly above the empty purple peg on the wooden stand."}, {"label": "subtasks", "start_step": 2108, "end_step": 2204, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: mate: Right hand adjusts the position and orientation of the white hexagonal block to align its central hole with the purple peg, lowering the block to fit onto the peg."}, {"label": "subtasks", "start_step": 2205, "end_step": 2227, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: release: Right hand releases the white cylindrical block on the wooden base, fingers opening to separate from the block top."}, {"label": "subtasks", "start_step": 2228, "end_step": 2257, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: reach: Right hand moves downward toward the green square block placed on the black table surface."}, {"label": "subtasks", "start_step": 2258, "end_step": 2309, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: grasp: Right hand adjusts finger positions to grasp the green square block on the table surface."}, {"label": "subtasks", "start_step": 2310, "end_step": 2354, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: lift_transport: Right hand lifts the grasped green block off the dark table surface and moves it upward to position directly above the empty target peg on the wooden block stand."}, {"label": "subtasks", "start_step": 2355, "end_step": 2459, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: mate: Right hand aligns the hollow hole of the grasped green block with the target white peg on the wooden stand, lowers the block to fit it securely onto the peg while making small positional adjustments."}, {"label": "subtasks", "start_step": 2460, "end_step": 2474, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: release: Right hand opens fingers to release the green block fitted on the peg, fully breaking contact with the block surface."}, {"label": "subtasks", "start_step": 2475, "end_step": 2489, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: retreat: Right hand moves the empty hand backward, moving away from the area of the wooden block stand."}], "episode_index": 14}
+{"source_uid": "af22c81346c7d21a", "num_frames": 3298, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 14, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_pose: Left hand adjusts its pose at the left side of the table, with fingers bending slightly and wrist rotating inward. | Right hand: reach: Right hand moves leftward from the right side of the table toward the green hexagonal block on the table in front of the wooden base."}, {"label": "goal", "start_step": 0, "end_step": 140, "id": "5f6d6c9d-a94f-468c-b96c-5b8d56fa2ae5"}, {"label": "valid", "start_step": 0, "end_step": 3264, "id": "FXWQ0W0RyoJHNRm1rlfMH"}, {"label": "subtasks", "start_step": 15, "end_step": 74, "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 leftward from the right side of the table toward the green hexagonal block on the table in front of the wooden base."}, {"label": "subtasks", "start_step": 75, "end_step": 97, "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 grasps the green hexagonal block on the table, with fingers closing around the block to form a stable grip."}, {"label": "subtasks", "start_step": 98, "end_step": 134, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_mate: Right hand lifts the green hexagonal block off the table and fits the block onto the leftmost purple rod of the wooden base."}, {"label": "subtasks", "start_step": 135, "end_step": 157, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cube on the table beside the wooden peg base, with fingers closing to secure the grip."}, {"label": "goal", "start_step": 141, "end_step": 434, "id": "16cad01e-4e28-440b-ae32-27a51252dee3"}, {"label": "subtasks", "start_step": 158, "end_step": 171, "id": "reasoning-language-00006", "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 green cube off the table and transports it above the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 172, "end_step": 194, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green cube onto the leftmost purple peg by aligning and lowering it into place."}, {"label": "subtasks", "start_step": 195, "end_step": 434, "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 green cube fitted on the leftmost purple peg without moving."}, {"label": "subtasks", "start_step": 435, "end_step": 457, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white cylindrical block onto the purple peg on the wooden base and releases it."}, {"label": "goal", "start_step": 435, "end_step": 608, "id": "986bec60-8a2f-4655-b047-f81c241602b7"}, {"label": "subtasks", "start_step": 458, "end_step": 494, "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 downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 495, "end_step": 517, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp_push: Right hand grasps the white hexagonal block on the table and pushes it slightly leftward."}, {"label": "subtasks", "start_step": 518, "end_step": 554, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold_release: Right hand holds the white hexagonal block on the table and releases it."}, {"label": "subtasks", "start_step": 555, "end_step": 577, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: idle: Right hand remains empty above the table without moving."}, {"label": "subtasks", "start_step": 578, "end_step": 599, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves rightward toward the green hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 600, "end_step": 621, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal nut on the table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 609, "end_step": 724, "id": "a7370962-79a2-4579-a476-e0ecbaf00618"}, {"label": "subtasks", "start_step": 622, "end_step": 644, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts and transports the white hexagonal nut from the table to the position above the upper left peg of the pegboard."}, {"label": "subtasks", "start_step": 645, "end_step": 719, "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 mates the white hexagonal nut onto the upper left peg of the pegboard by lowering and fitting it onto the peg."}, {"label": "subtasks", "start_step": 720, "end_step": 749, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white sleeve onto the leftmost purple vertical peg by pushing it upward and releases the sleeve."}, {"label": "goal", "start_step": 725, "end_step": 804, "id": "03f6d81f-9c40-471b-8cff-b3fa1f5e30d5"}, {"label": "subtasks", "start_step": 750, "end_step": 779, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal part on the black table near the bottom center."}, {"label": "subtasks", "start_step": 780, "end_step": 824, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal part on the black table near the bottom center with fingers closing around it."}, {"label": "goal", "start_step": 805, "end_step": 950, "id": "c9bdb3cb-edd0-45d3-b352-6d188567e8dc"}, {"label": "subtasks", "start_step": 825, "end_step": 847, "id": "reasoning-language-00021", "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 white hexagonal block off the table and transports it upward and rightward toward the wooden peg rack."}, {"label": "subtasks", "start_step": 848, "end_step": 944, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the front-left peg of the wooden rack by aligning the block's hole with the peg and lowering the block along the peg."}, {"label": "subtasks", "start_step": 945, "end_step": 959, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal part on the leftmost peg of the wooden base, with fingers opening from a closed position."}, {"label": "goal", "start_step": 951, "end_step": 1032, "id": "15d19d83-dad5-45c1-9240-7964710a385d"}, {"label": "subtasks", "start_step": 960, "end_step": 981, "id": "reasoning-language-00024", "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 white hexagonal part on the black table surface, with fingers kept open."}, {"label": "subtasks", "start_step": 982, "end_step": 1049, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal part on the black table surface, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 1033, "end_step": 1610, "id": "75112f75-b0fb-4f7d-85e3-b8af14c8c793"}, {"label": "subtasks", "start_step": 1050, "end_step": 1064, "id": "reasoning-language-00026", "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 white hexagonal block off the table and transports it toward the middle purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1065, "end_step": 1229, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the middle purple peg and adjusts its position to fit the block onto the peg."}, {"label": "subtasks", "start_step": 1230, "end_step": 1244, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block, which falls from the middle purple peg to the table surface."}, {"label": "subtasks", "start_step": 1245, "end_step": 1327, "id": "reasoning-language-00029", "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 white hexagonal block that fell on the table surface."}, {"label": "subtasks", "start_step": 1328, "end_step": 1341, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface, adjusting its grip with fingers."}, {"label": "subtasks", "start_step": 1342, "end_step": 1364, "id": "reasoning-language-00031", "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 white hexagonal block off the table and transports it toward the right purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1365, "end_step": 1491, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the right purple peg and adjusts its position to fit the block onto the peg."}, {"label": "subtasks", "start_step": 1492, "end_step": 1514, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block from above the right purple peg to above the middle purple peg."}, {"label": "subtasks", "start_step": 1515, "end_step": 1604, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the middle purple peg and adjusts its position to fit the block onto the peg."}, {"label": "subtasks", "start_step": 1605, "end_step": 1634, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press_release: Right hand presses down the white ring on the rightmost purple peg of the wooden base before releasing it with opening fingers."}, {"label": "goal", "start_step": 1611, "end_step": 1672, "id": "a07d3df0-7693-4c76-86d3-eef607fc8d0e"}, {"label": "subtasks", "start_step": 1635, "end_step": 1664, "id": "reasoning-language-00036", "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 green hexagonal block on the black table surface while keeping empty."}, {"label": "subtasks", "start_step": 1665, "end_step": 1679, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table with fingers closing to form a stable grip."}, {"label": "goal", "start_step": 1673, "end_step": 1798, "id": "75da9f17-06f1-4fa3-9e12-f34ca0653a30"}, {"label": "subtasks", "start_step": 1680, "end_step": 1694, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green hexagonal block upward until it fully leaves the black table surface."}, {"label": "subtasks", "start_step": 1695, "end_step": 1709, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green hexagonal block upward to the position above the middle purple peg of the wooden base."}, {"label": "subtasks", "start_step": 1710, "end_step": 1784, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the middle purple peg of the wooden base by aligning the block's hole with the peg and lowering the block."}, {"label": "subtasks", "start_step": 1785, "end_step": 1814, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand fits the white cylindrical block onto the peg of the wooden base and releases its grip."}, {"label": "goal", "start_step": 1799, "end_step": 1914, "id": "00b0c066-86b7-41be-aaa6-721235332584"}, {"label": "subtasks", "start_step": 1815, "end_step": 1844, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the dark table surface."}, {"label": "subtasks", "start_step": 1845, "end_step": 1934, "id": "reasoning-language-00043", "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 around the white hexagonal block on the dark table surface to form a stable grip."}, {"label": "goal", "start_step": 1915, "end_step": 2062, "id": "33cd1924-3c20-4515-909a-351ac9ba969a"}, {"label": "subtasks", "start_step": 1935, "end_step": 1964, "id": "reasoning-language-00044", "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 white hexagonal nut off the table and transports it upward and leftward toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1965, "end_step": 2017, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal nut with the purple rod by aligning the nut's hole with the rod and lowering it onto the rod."}, {"label": "subtasks", "start_step": 2018, "end_step": 2054, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal nut on the purple rod without moving."}, {"label": "subtasks", "start_step": 2055, "end_step": 2077, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white block on the purple rod of the wooden base, with fingers opening to separate from the block."}, {"label": "goal", "start_step": 2063, "end_step": 2160, "id": "522839af-a3a3-494d-ae39-c1bac6b6c426"}, {"label": "subtasks", "start_step": 2078, "end_step": 2114, "id": "reasoning-language-00048", "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 rightward to approach the upper white hexagonal block on the table."}, {"label": "subtasks", "start_step": 2115, "end_step": 2181, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the upper white hexagonal block on the table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 2161, "end_step": 2530, "id": "818989a0-8135-4bad-8940-8931c0f4b02e"}, {"label": "subtasks", "start_step": 2182, "end_step": 2204, "id": "reasoning-language-00050", "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 white hexagonal block from the table and transports it towards the purple rod on the wooden tray."}, {"label": "subtasks", "start_step": 2205, "end_step": 2294, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white hexagonal block onto the purple rod and releases it, making the block fall onto the table surface."}, {"label": "subtasks", "start_step": 2295, "end_step": 2339, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downwards to approach the lower white hexagonal block on the table."}, {"label": "subtasks", "start_step": 2340, "end_step": 2399, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the lower white hexagonal block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2400, "end_step": 2429, "id": "reasoning-language-00054", "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 white hexagonal block from the table and transports it towards the purple rod on the wooden tray."}, {"label": "subtasks", "start_step": 2430, "end_step": 2519, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and fits it onto the rod, adjusting the position slightly."}, {"label": "subtasks", "start_step": 2520, "end_step": 2549, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand fits the white ring onto the purple vertical peg and releases its grip on the ring."}, {"label": "goal", "start_step": 2531, "end_step": 2612, "id": "38af4299-3590-4bd6-9960-b00f7b92063f"}, {"label": "subtasks", "start_step": 2550, "end_step": 2579, "id": "reasoning-language-00057", "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 white hexagonal block on the dark table surface."}, {"label": "subtasks", "start_step": 2580, "end_step": 2624, "id": "reasoning-language-00058", "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 around the white hexagonal block on the table to establish a grasp."}, {"label": "goal", "start_step": 2613, "end_step": 2742, "id": "37e63f5e-677e-415a-882d-5ec0d4d89ba6"}, {"label": "subtasks", "start_step": 2625, "end_step": 2639, "id": "reasoning-language-00059", "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 white hollow cube from the black table and transports it upward and leftward to the top of the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2640, "end_step": 2684, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hollow cube with the purple rod by lowering it onto the rod to complete the fitting."}, {"label": "subtasks", "start_step": 2685, "end_step": 2729, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hollow cube fitted on the purple rod without moving."}, {"label": "subtasks", "start_step": 2730, "end_step": 2751, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the purple rod placed in the rightmost white bottle on the wooden rack."}, {"label": "goal", "start_step": 2743, "end_step": 2820, "id": "b9af3d83-0970-4e11-b6f7-da58858bc260"}, {"label": "subtasks", "start_step": 2752, "end_step": 2797, "id": "reasoning-language-00063", "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 rightward toward the green cubic block on the dark table surface."}, {"label": "subtasks", "start_step": 2798, "end_step": 2834, "id": "reasoning-language-00064", "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 grasp the green cubic block on the dark table surface."}, {"label": "goal", "start_step": 2821, "end_step": 3206, "id": "6e1b86bc-ac58-42ce-bc03-03553cd0c25d"}, {"label": "subtasks", "start_step": 2835, "end_step": 2871, "id": "reasoning-language-00065", "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 green hollow cubic block off the table and transports it to the position above the bottle with a purple top on the wooden rack."}, {"label": "subtasks", "start_step": 2872, "end_step": 3149, "id": "reasoning-language-00066", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green hollow cubic block with the purple top of the bottle, fits it onto the bottle, and makes slight up-and-down adjustments to the assembly position."}, {"label": "subtasks", "start_step": 3150, "end_step": 3209, "id": "reasoning-language-00067", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hollow cubic block on the top of the purple-topped bottle without moving."}, {"label": "home", "start_step": 3265, "end_step": 3297, "id": "sExCZvXT-_M26-h2E05-T"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 14, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_pose: Left hand adjusts its pose at the left side of the table, with fingers bending slightly and wrist rotating inward. | Right hand: reach: Right hand moves leftward from the right side of the table toward the green hexagonal block on the table in front of the wooden base."}, {"label": "subtasks", "start_step": 15, "end_step": 74, "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 leftward from the right side of the table toward the green hexagonal block on the table in front of the wooden base."}, {"label": "subtasks", "start_step": 75, "end_step": 97, "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 grasps the green hexagonal block on the table, with fingers closing around the block to form a stable grip."}, {"label": "subtasks", "start_step": 98, "end_step": 134, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_mate: Right hand lifts the green hexagonal block off the table and fits the block onto the leftmost purple rod of the wooden base."}, {"label": "subtasks", "start_step": 135, "end_step": 157, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cube on the table beside the wooden peg base, with fingers closing to secure the grip."}, {"label": "subtasks", "start_step": 158, "end_step": 171, "id": "reasoning-language-00006", "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 green cube off the table and transports it above the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 172, "end_step": 194, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green cube onto the leftmost purple peg by aligning and lowering it into place."}, {"label": "subtasks", "start_step": 195, "end_step": 434, "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 green cube fitted on the leftmost purple peg without moving."}, {"label": "subtasks", "start_step": 435, "end_step": 457, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white cylindrical block onto the purple peg on the wooden base and releases it."}, {"label": "subtasks", "start_step": 458, "end_step": 494, "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 downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 495, "end_step": 517, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp_push: Right hand grasps the white hexagonal block on the table and pushes it slightly leftward."}, {"label": "subtasks", "start_step": 518, "end_step": 554, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold_release: Right hand holds the white hexagonal block on the table and releases it."}, {"label": "subtasks", "start_step": 555, "end_step": 577, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: idle: Right hand remains empty above the table without moving."}, {"label": "subtasks", "start_step": 578, "end_step": 599, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves rightward toward the green hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 600, "end_step": 621, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal nut on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 622, "end_step": 644, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts and transports the white hexagonal nut from the table to the position above the upper left peg of the pegboard."}, {"label": "subtasks", "start_step": 645, "end_step": 719, "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 mates the white hexagonal nut onto the upper left peg of the pegboard by lowering and fitting it onto the peg."}, {"label": "subtasks", "start_step": 720, "end_step": 749, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white sleeve onto the leftmost purple vertical peg by pushing it upward and releases the sleeve."}, {"label": "subtasks", "start_step": 750, "end_step": 779, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal part on the black table near the bottom center."}, {"label": "subtasks", "start_step": 780, "end_step": 824, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal part on the black table near the bottom center with fingers closing around it."}, {"label": "subtasks", "start_step": 825, "end_step": 847, "id": "reasoning-language-00021", "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 white hexagonal block off the table and transports it upward and rightward toward the wooden peg rack."}, {"label": "subtasks", "start_step": 848, "end_step": 944, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the front-left peg of the wooden rack by aligning the block's hole with the peg and lowering the block along the peg."}, {"label": "subtasks", "start_step": 945, "end_step": 959, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal part on the leftmost peg of the wooden base, with fingers opening from a closed position."}, {"label": "subtasks", "start_step": 960, "end_step": 981, "id": "reasoning-language-00024", "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 white hexagonal part on the black table surface, with fingers kept open."}, {"label": "subtasks", "start_step": 982, "end_step": 1049, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal part on the black table surface, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1050, "end_step": 1064, "id": "reasoning-language-00026", "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 white hexagonal block off the table and transports it toward the middle purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1065, "end_step": 1229, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the middle purple peg and adjusts its position to fit the block onto the peg."}, {"label": "subtasks", "start_step": 1230, "end_step": 1244, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block, which falls from the middle purple peg to the table surface."}, {"label": "subtasks", "start_step": 1245, "end_step": 1327, "id": "reasoning-language-00029", "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 white hexagonal block that fell on the table surface."}, {"label": "subtasks", "start_step": 1328, "end_step": 1341, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface, adjusting its grip with fingers."}, {"label": "subtasks", "start_step": 1342, "end_step": 1364, "id": "reasoning-language-00031", "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 white hexagonal block off the table and transports it toward the right purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1365, "end_step": 1491, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the right purple peg and adjusts its position to fit the block onto the peg."}, {"label": "subtasks", "start_step": 1492, "end_step": 1514, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block from above the right purple peg to above the middle purple peg."}, {"label": "subtasks", "start_step": 1515, "end_step": 1604, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the middle purple peg and adjusts its position to fit the block onto the peg."}, {"label": "subtasks", "start_step": 1605, "end_step": 1634, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press_release: Right hand presses down the white ring on the rightmost purple peg of the wooden base before releasing it with opening fingers."}, {"label": "subtasks", "start_step": 1635, "end_step": 1664, "id": "reasoning-language-00036", "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 green hexagonal block on the black table surface while keeping empty."}, {"label": "subtasks", "start_step": 1665, "end_step": 1679, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table with fingers closing to form a stable grip."}, {"label": "subtasks", "start_step": 1680, "end_step": 1694, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green hexagonal block upward until it fully leaves the black table surface."}, {"label": "subtasks", "start_step": 1695, "end_step": 1709, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green hexagonal block upward to the position above the middle purple peg of the wooden base."}, {"label": "subtasks", "start_step": 1710, "end_step": 1784, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the middle purple peg of the wooden base by aligning the block's hole with the peg and lowering the block."}, {"label": "subtasks", "start_step": 1785, "end_step": 1814, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand fits the white cylindrical block onto the peg of the wooden base and releases its grip."}, {"label": "subtasks", "start_step": 1815, "end_step": 1844, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the dark table surface."}, {"label": "subtasks", "start_step": 1845, "end_step": 1934, "id": "reasoning-language-00043", "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 around the white hexagonal block on the dark table surface to form a stable grip."}, {"label": "subtasks", "start_step": 1935, "end_step": 1964, "id": "reasoning-language-00044", "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 white hexagonal nut off the table and transports it upward and leftward toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1965, "end_step": 2017, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal nut with the purple rod by aligning the nut's hole with the rod and lowering it onto the rod."}, {"label": "subtasks", "start_step": 2018, "end_step": 2054, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal nut on the purple rod without moving."}, {"label": "subtasks", "start_step": 2055, "end_step": 2077, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white block on the purple rod of the wooden base, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 2078, "end_step": 2114, "id": "reasoning-language-00048", "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 rightward to approach the upper white hexagonal block on the table."}, {"label": "subtasks", "start_step": 2115, "end_step": 2181, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the upper white hexagonal block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2182, "end_step": 2204, "id": "reasoning-language-00050", "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 white hexagonal block from the table and transports it towards the purple rod on the wooden tray."}, {"label": "subtasks", "start_step": 2205, "end_step": 2294, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white hexagonal block onto the purple rod and releases it, making the block fall onto the table surface."}, {"label": "subtasks", "start_step": 2295, "end_step": 2339, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downwards to approach the lower white hexagonal block on the table."}, {"label": "subtasks", "start_step": 2340, "end_step": 2399, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the lower white hexagonal block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2400, "end_step": 2429, "id": "reasoning-language-00054", "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 white hexagonal block from the table and transports it towards the purple rod on the wooden tray."}, {"label": "subtasks", "start_step": 2430, "end_step": 2519, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and fits it onto the rod, adjusting the position slightly."}, {"label": "subtasks", "start_step": 2520, "end_step": 2549, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand fits the white ring onto the purple vertical peg and releases its grip on the ring."}, {"label": "subtasks", "start_step": 2550, "end_step": 2579, "id": "reasoning-language-00057", "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 white hexagonal block on the dark table surface."}, {"label": "subtasks", "start_step": 2580, "end_step": 2624, "id": "reasoning-language-00058", "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 around the white hexagonal block on the table to establish a grasp."}, {"label": "subtasks", "start_step": 2625, "end_step": 2639, "id": "reasoning-language-00059", "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 white hollow cube from the black table and transports it upward and leftward to the top of the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2640, "end_step": 2684, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hollow cube with the purple rod by lowering it onto the rod to complete the fitting."}, {"label": "subtasks", "start_step": 2685, "end_step": 2729, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hollow cube fitted on the purple rod without moving."}, {"label": "subtasks", "start_step": 2730, "end_step": 2751, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the purple rod placed in the rightmost white bottle on the wooden rack."}, {"label": "subtasks", "start_step": 2752, "end_step": 2797, "id": "reasoning-language-00063", "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 rightward toward the green cubic block on the dark table surface."}, {"label": "subtasks", "start_step": 2798, "end_step": 2834, "id": "reasoning-language-00064", "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 grasp the green cubic block on the dark table surface."}, {"label": "subtasks", "start_step": 2835, "end_step": 2871, "id": "reasoning-language-00065", "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 green hollow cubic block off the table and transports it to the position above the bottle with a purple top on the wooden rack."}, {"label": "subtasks", "start_step": 2872, "end_step": 3149, "id": "reasoning-language-00066", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green hollow cubic block with the purple top of the bottle, fits it onto the bottle, and makes slight up-and-down adjustments to the assembly position."}, {"label": "subtasks", "start_step": 3150, "end_step": 3209, "id": "reasoning-language-00067", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hollow cubic block on the top of the purple-topped bottle without moving."}], "episode_index": 15}
+{"source_uid": "99c97c4006d70058", "num_frames": 3022, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 37, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: reach: Right hand moves forward towards the leftmost white cylindrical part on the wooden base."}, {"label": "goal", "start_step": 0, "end_step": 136, "id": "4992c32d-a6cb-4942-89b5-e697dfd6ad51"}, {"label": "valid", "start_step": 0, "end_step": 2990, "id": "GWHKSZ8QI3FS6CK0A78Fm"}, {"label": "subtasks", "start_step": 38, "end_step": 74, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the leftmost white cylindrical part on the wooden base."}, {"label": "subtasks", "start_step": 75, "end_step": 134, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: pull: Right hand pulls the grasped white cylindrical part downwards along the purple rod."}, {"label": "subtasks", "start_step": 135, "end_step": 164, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: lift: Right hand lifts the green hexagonal block from the black table surface."}, {"label": "goal", "start_step": 137, "end_step": 288, "id": "8b1b2359-6436-4381-afbd-cd8e037076c9"}, {"label": "subtasks", "start_step": 165, "end_step": 187, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: transport: Right hand transports the green hexagonal block above the leftmost peg of the wooden rack."}, {"label": "subtasks", "start_step": 188, "end_step": 284, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the leftmost peg of the wooden rack by aligning and pressing it down."}, {"label": "subtasks", "start_step": 285, "end_step": 299, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: release: Right hand releases the green hexagonal block from its grasp."}, {"label": "goal", "start_step": 289, "end_step": 344, "id": "31b95b2f-0d08-419f-94f7-ab953a5b441b"}, {"label": "subtasks", "start_step": 300, "end_step": 329, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: reach: Right hand moves downward from the wooden rack towards the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 330, "end_step": 367, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the black table."}, {"label": "goal", "start_step": 345, "end_step": 550, "id": "e9f4a55d-61df-43b1-8466-33c1e3946999"}, {"label": "subtasks", "start_step": 368, "end_step": 397, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it to the position above the target purple post on the wooden rack."}, {"label": "subtasks", "start_step": 398, "end_step": 539, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple post and fits it onto the post until it is properly placed."}, {"label": "subtasks", "start_step": 540, "end_step": 569, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: release: Right hand releases the white hexagonal block on the purple peg of the wooden base by opening fingers."}, {"label": "goal", "start_step": 551, "end_step": 636, "id": "658b2891-a170-4e91-8346-a443953fa5cb"}, {"label": "subtasks", "start_step": 570, "end_step": 599, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: reach: Right hand moves down towards the white hexagonal block on the black tabletop with empty hand."}, {"label": "subtasks", "start_step": 600, "end_step": 659, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black tabletop with fingers closing around it."}, {"label": "goal", "start_step": 637, "end_step": 812, "id": "238f5194-193b-44c7-86d2-d5371f995771"}, {"label": "subtasks", "start_step": 660, "end_step": 674, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: lift: Right hand lifts the white hexagonal block off the black table surface."}, {"label": "subtasks", "start_step": 675, "end_step": 689, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: transport: Right hand transports the white hexagonal block towards the wooden rack with purple rods."}, {"label": "subtasks", "start_step": 690, "end_step": 839, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the leftmost purple rod of the wooden rack, aligning and inserting it downwards."}, {"label": "goal", "start_step": 813, "end_step": 902, "id": "4d4769e4-d6ed-4734-b565-c3d8f611317b"}, {"label": "subtasks", "start_step": 840, "end_step": 854, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: release: Right hand releases the white cylindrical block placed on the purple rod."}, {"label": "subtasks", "start_step": 855, "end_step": 899, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: reach: Right hand reaches downward toward the white cylindrical block on the black table surface."}, {"label": "subtasks", "start_step": 900, "end_step": 921, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface."}, {"label": "goal", "start_step": 903, "end_step": 1022, "id": "8ad84dbb-cabe-4b30-8676-602851eb0737"}, {"label": "subtasks", "start_step": 922, "end_step": 944, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it towards the wooden base with vertical pegs."}, {"label": "subtasks", "start_step": 945, "end_step": 974, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand aligns the inner hole of the white hexagonal block with the target vertical peg on the wooden base."}, {"label": "subtasks", "start_step": 975, "end_step": 1019, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: place: Right hand lowers the white hexagonal block onto the target peg until it is fully seated on the base."}, {"label": "subtasks", "start_step": 1020, "end_step": 1049, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: place_release: Right hand places the white ring onto the purple rod on the wooden base and releases the ring."}, {"label": "goal", "start_step": 1023, "end_step": 1096, "id": "0c85537d-6cfd-4a3a-9926-568d2a280b5e"}, {"label": "subtasks", "start_step": 1050, "end_step": 1071, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: reach: Right hand moves downward towards the green block on the black table surface."}, {"label": "subtasks", "start_step": 1072, "end_step": 1109, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand adjusts fingers to form a stable grasp on the green block on the table."}, {"label": "goal", "start_step": 1097, "end_step": 1228, "id": "399d9908-d6c3-47a4-ac5a-58f3af167351"}, {"label": "subtasks", "start_step": 1110, "end_step": 1131, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it towards the peg on the wooden tray."}, {"label": "subtasks", "start_step": 1132, "end_step": 1184, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand aligns the green block with the target peg and inserts it down onto the peg."}, {"label": "subtasks", "start_step": 1185, "end_step": 1214, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: release: Right hand opens its fingers to release the green block."}, {"label": "subtasks", "start_step": 1215, "end_step": 1251, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: place: Right hand places the white ring onto the peg on the wooden base."}, {"label": "goal", "start_step": 1229, "end_step": 1302, "id": "b01ef7d4-9987-4cdc-8f1f-1459c5c08a81"}, {"label": "subtasks", "start_step": 1252, "end_step": 1289, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: reach: Right hand moves downward toward the white ring on the black table surface."}, {"label": "subtasks", "start_step": 1290, "end_step": 1319, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the black table."}, {"label": "goal", "start_step": 1303, "end_step": 1486, "id": "1bc45a7e-3e24-441d-8d65-9e611009fd9c"}, {"label": "subtasks", "start_step": 1320, "end_step": 1334, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it towards the wooden peg board."}, {"label": "subtasks", "start_step": 1335, "end_step": 1514, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple peg of the wooden board."}, {"label": "goal", "start_step": 1487, "end_step": 1590, "id": "45571272-dbac-40b6-b0f7-298c93258587"}, {"label": "subtasks", "start_step": 1515, "end_step": 1574, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: reach: Right hand reaches towards the upper white cylindrical sleeve placed on the black table to the right of the wooden base."}, {"label": "subtasks", "start_step": 1575, "end_step": 1589, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand grasps the upper white cylindrical sleeve on the black table."}, {"label": "subtasks", "start_step": 1590, "end_step": 1611, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp_lift: Right hand grasps the white hexagonal block on the table and lifts it off the table surface."}, {"label": "goal", "start_step": 1591, "end_step": 2114, "id": "0dbdf3b3-eaf3-48a9-ae00-9b7cc0096b83"}, {"label": "subtasks", "start_step": 1612, "end_step": 1634, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: transport: Right hand transports the white hexagonal block towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1635, "end_step": 1754, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 1755, "end_step": 2091, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: press: Right hand presses the white hexagonal block down along the purple rod until it reaches the bottom."}, {"label": "subtasks", "start_step": 2092, "end_step": 2114, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: release_retreat: Right hand releases the white hexagonal block and retreats slightly away from the rod."}, {"label": "subtasks", "start_step": 2115, "end_step": 2174, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block placed on the black table surface."}, {"label": "goal", "start_step": 2115, "end_step": 2188, "id": "f4dbdb73-88e8-4bda-a150-d221f177c99f"}, {"label": "subtasks", "start_step": 2175, "end_step": 2204, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand closes its fingers to form a stable grasp on the white hexagonal block."}, {"label": "goal", "start_step": 2189, "end_step": 2400, "id": "a2eb1e66-7ef8-4b95-9070-8ff3985f751f"}, {"label": "subtasks", "start_step": 2205, "end_step": 2241, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it to the position above the purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 2242, "end_step": 2391, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg and mates the block onto the peg by pushing it downward."}, {"label": "subtasks", "start_step": 2392, "end_step": 2399, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: release_retreat: Right hand releases the white hexagonal block and retreats upward away from the wooden rack."}, {"label": "subtasks", "start_step": 2400, "end_step": 2414, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: release: Right hand releases the white bottle on the wooden board, fingers open to separate from the bottle."}, {"label": "goal", "start_step": 2401, "end_step": 2476, "id": "ac96030c-aea7-4343-9289-7a9b5c4b5426"}, {"label": "subtasks", "start_step": 2415, "end_step": 2459, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: reach: Right hand moves downward toward the green square block on the black table surface."}, {"label": "subtasks", "start_step": 2460, "end_step": 2489, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand grasps the green square block on the table, fingers close around the block to form a stable grip."}, {"label": "goal", "start_step": 2477, "end_step": 2970, "id": "f324a625-7d2e-44f4-b22b-d0f421328a5a"}, {"label": "subtasks", "start_step": 2490, "end_step": 2519, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it towards the white bottle rack."}, {"label": "subtasks", "start_step": 2520, "end_step": 2661, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand aligns the green block with the protruding rod on the first target white bottle for assembly."}, {"label": "subtasks", "start_step": 2662, "end_step": 2797, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: lift_transport: Right hand lifts the green block from the first bottle and transports it to the second target white bottle."}, {"label": "subtasks", "start_step": 2798, "end_step": 2961, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate_press: Right hand aligns the green block with the rod on the second white bottle and presses it down to fit tightly."}, {"label": "subtasks", "start_step": 2962, "end_step": 2984, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: release_retreat: Right hand releases the green block and retreats away from the bottle rack."}, {"label": "home", "start_step": 2991, "end_step": 3021, "id": "PWflJaWly-zKt-xaPRjv2"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 37, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: reach: Right hand moves forward towards the leftmost white cylindrical part on the wooden base."}, {"label": "subtasks", "start_step": 38, "end_step": 74, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the leftmost white cylindrical part on the wooden base."}, {"label": "subtasks", "start_step": 75, "end_step": 134, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: pull: Right hand pulls the grasped white cylindrical part downwards along the purple rod."}, {"label": "subtasks", "start_step": 135, "end_step": 164, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: lift: Right hand lifts the green hexagonal block from the black table surface."}, {"label": "subtasks", "start_step": 165, "end_step": 187, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: transport: Right hand transports the green hexagonal block above the leftmost peg of the wooden rack."}, {"label": "subtasks", "start_step": 188, "end_step": 284, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the leftmost peg of the wooden rack by aligning and pressing it down."}, {"label": "subtasks", "start_step": 285, "end_step": 299, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: release: Right hand releases the green hexagonal block from its grasp."}, {"label": "subtasks", "start_step": 300, "end_step": 329, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: reach: Right hand moves downward from the wooden rack towards the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 330, "end_step": 367, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 368, "end_step": 397, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it to the position above the target purple post on the wooden rack."}, {"label": "subtasks", "start_step": 398, "end_step": 539, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple post and fits it onto the post until it is properly placed."}, {"label": "subtasks", "start_step": 540, "end_step": 569, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: release: Right hand releases the white hexagonal block on the purple peg of the wooden base by opening fingers."}, {"label": "subtasks", "start_step": 570, "end_step": 599, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: reach: Right hand moves down towards the white hexagonal block on the black tabletop with empty hand."}, {"label": "subtasks", "start_step": 600, "end_step": 659, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black tabletop with fingers closing around it."}, {"label": "subtasks", "start_step": 660, "end_step": 674, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: lift: Right hand lifts the white hexagonal block off the black table surface."}, {"label": "subtasks", "start_step": 675, "end_step": 689, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: transport: Right hand transports the white hexagonal block towards the wooden rack with purple rods."}, {"label": "subtasks", "start_step": 690, "end_step": 839, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the leftmost purple rod of the wooden rack, aligning and inserting it downwards."}, {"label": "subtasks", "start_step": 840, "end_step": 854, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: release: Right hand releases the white cylindrical block placed on the purple rod."}, {"label": "subtasks", "start_step": 855, "end_step": 899, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: reach: Right hand reaches downward toward the white cylindrical block on the black table surface."}, {"label": "subtasks", "start_step": 900, "end_step": 921, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 922, "end_step": 944, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it towards the wooden base with vertical pegs."}, {"label": "subtasks", "start_step": 945, "end_step": 974, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand aligns the inner hole of the white hexagonal block with the target vertical peg on the wooden base."}, {"label": "subtasks", "start_step": 975, "end_step": 1019, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: place: Right hand lowers the white hexagonal block onto the target peg until it is fully seated on the base."}, {"label": "subtasks", "start_step": 1020, "end_step": 1049, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: place_release: Right hand places the white ring onto the purple rod on the wooden base and releases the ring."}, {"label": "subtasks", "start_step": 1050, "end_step": 1071, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: reach: Right hand moves downward towards the green block on the black table surface."}, {"label": "subtasks", "start_step": 1072, "end_step": 1109, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand adjusts fingers to form a stable grasp on the green block on the table."}, {"label": "subtasks", "start_step": 1110, "end_step": 1131, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it towards the peg on the wooden tray."}, {"label": "subtasks", "start_step": 1132, "end_step": 1184, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand aligns the green block with the target peg and inserts it down onto the peg."}, {"label": "subtasks", "start_step": 1185, "end_step": 1214, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: release: Right hand opens its fingers to release the green block."}, {"label": "subtasks", "start_step": 1215, "end_step": 1251, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: place: Right hand places the white ring onto the peg on the wooden base."}, {"label": "subtasks", "start_step": 1252, "end_step": 1289, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: reach: Right hand moves downward toward the white ring on the black table surface."}, {"label": "subtasks", "start_step": 1290, "end_step": 1319, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 1320, "end_step": 1334, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it towards the wooden peg board."}, {"label": "subtasks", "start_step": 1335, "end_step": 1514, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple peg of the wooden board."}, {"label": "subtasks", "start_step": 1515, "end_step": 1574, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: reach: Right hand reaches towards the upper white cylindrical sleeve placed on the black table to the right of the wooden base."}, {"label": "subtasks", "start_step": 1575, "end_step": 1589, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand grasps the upper white cylindrical sleeve on the black table."}, {"label": "subtasks", "start_step": 1590, "end_step": 1611, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp_lift: Right hand grasps the white hexagonal block on the table and lifts it off the table surface."}, {"label": "subtasks", "start_step": 1612, "end_step": 1634, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: transport: Right hand transports the white hexagonal block towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1635, "end_step": 1754, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 1755, "end_step": 2091, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: press: Right hand presses the white hexagonal block down along the purple rod until it reaches the bottom."}, {"label": "subtasks", "start_step": 2092, "end_step": 2114, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: release_retreat: Right hand releases the white hexagonal block and retreats slightly away from the rod."}, {"label": "subtasks", "start_step": 2115, "end_step": 2174, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block placed on the black table surface."}, {"label": "subtasks", "start_step": 2175, "end_step": 2204, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand closes its fingers to form a stable grasp on the white hexagonal block."}, {"label": "subtasks", "start_step": 2205, "end_step": 2241, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it to the position above the purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 2242, "end_step": 2391, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg and mates the block onto the peg by pushing it downward."}, {"label": "subtasks", "start_step": 2392, "end_step": 2399, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: release_retreat: Right hand releases the white hexagonal block and retreats upward away from the wooden rack."}, {"label": "subtasks", "start_step": 2400, "end_step": 2414, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: release: Right hand releases the white bottle on the wooden board, fingers open to separate from the bottle."}, {"label": "subtasks", "start_step": 2415, "end_step": 2459, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: reach: Right hand moves downward toward the green square block on the black table surface."}, {"label": "subtasks", "start_step": 2460, "end_step": 2489, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand grasps the green square block on the table, fingers close around the block to form a stable grip."}, {"label": "subtasks", "start_step": 2490, "end_step": 2519, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it towards the white bottle rack."}, {"label": "subtasks", "start_step": 2520, "end_step": 2661, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand aligns the green block with the protruding rod on the first target white bottle for assembly."}, {"label": "subtasks", "start_step": 2662, "end_step": 2797, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: lift_transport: Right hand lifts the green block from the first bottle and transports it to the second target white bottle."}, {"label": "subtasks", "start_step": 2798, "end_step": 2961, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate_press: Right hand aligns the green block with the rod on the second white bottle and presses it down to fit tightly."}, {"label": "subtasks", "start_step": 2962, "end_step": 2984, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: release_retreat: Right hand releases the green block and retreats away from the bottle rack."}], "episode_index": 16}
+{"source_uid": "ff35c4a7e8ccf134", "num_frames": 2599, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 67, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty on the left side of the table, keeping static with no visible movement or contact with any operated object. | Right hand: reach: Right hand moves from the right initial position downward and toward the green hexagonal block placed at the front left of the wooden peg rack, staying empty without contacting the target."}, {"label": "goal", "start_step": 0, "end_step": 152, "id": "18f8b08c-73fa-41e8-a236-468c96d3bfe7"}, {"label": "valid", "start_step": 0, "end_step": 2565, "id": "iS770_CODhkuX2Xg7anCk"}, {"label": "subtasks", "start_step": 68, "end_step": 179, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty on the left side of the table, keeping static with no visible movement or contact with any operated object. | Right hand: grasp: Right hand positions fingers around the target green hexagonal block on the table, adjusting finger contact and closing gradually to establish a stable grasp, with the block remaining on the table surface."}, {"label": "goal", "start_step": 153, "end_step": 502, "id": "0d67286a-53cb-4489-a65b-5dfbc08c6c54"}, {"label": "subtasks", "start_step": 180, "end_step": 224, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty on the left side of the table, keeping static with no visible movement or contact with any operated object. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block completely off the black table surface, moving it through the air to position the block directly above the target purple peg on the wooden peg board."}, {"label": "subtasks", "start_step": 225, "end_step": 487, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty on the left side of the table, keeping static with no visible movement or contact with any operated object. | Right hand: mate: Right hand adjusts the position and orientation of the green hexagonal block to align its central hole with the target purple peg, making small fine positional adjustments while lowering the block to fit onto the peg."}, {"label": "subtasks", "start_step": 488, "end_step": 494, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty on the left side of the table, keeping static with no visible movement or contact with any operated object. | Right hand: place: Right hand lowers the green hexagonal block fully onto the wooden peg board surface until the block is stably supported by the board, maintaining grip on the block."}, {"label": "subtasks", "start_step": 495, "end_step": 524, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty on the left side of the table, keeping static with no visible movement or contact with any operated object. | Right hand: place_release: Right hand lowers the white cylindrical block onto the purple peg of the wooden base to rest on the green block below, and releases the block."}, {"label": "goal", "start_step": 503, "end_step": 578, "id": "3e06754d-c658-48c0-91cf-cf0a99869e0b"}, {"label": "subtasks", "start_step": 525, "end_step": 547, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty on the left side of the table, keeping static with no visible movement or contact with any operated object. | Right hand: reach: Right hand moves downward through empty space toward the white hexagonal nut placed on the black table surface."}, {"label": "subtasks", "start_step": 548, "end_step": 599, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty on the left side of the table, keeping static with no visible movement or contact with any operated object. | Right hand: grasp: Right hand brings fingers into contact with the white hexagonal nut, closing fingers and making small positional adjustments to form a grasp."}, {"label": "goal", "start_step": 579, "end_step": 706, "id": "9bd775c4-bda4-4725-a30d-826080eaa586"}, {"label": "subtasks", "start_step": 600, "end_step": 621, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty on the left side of the table, keeping static with no visible movement or contact with any operated object. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the table surface and transports it upward to the position above the purple rod on the wooden assembly block."}, {"label": "subtasks", "start_step": 622, "end_step": 704, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty on the left side of the table, keeping static with no visible movement or contact with any operated object. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple rod on the wooden block, lowers the nut to fit onto the rod, and makes slight positional adjustments to seat the nut properly."}, {"label": "subtasks", "start_step": 705, "end_step": 757, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty on the left side of the table, keeping static with no visible movement or contact with any operated object. | Right hand: reach: Right hand moves downward from the position above the wooden block rack toward the white hexagonal nut on the black table, staying empty before contacting the target nut."}, {"label": "goal", "start_step": 707, "end_step": 792, "id": "921d2850-adb5-4736-9c3e-d3686d3500b0"}, {"label": "subtasks", "start_step": 758, "end_step": 809, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty on the left side of the table, keeping static with no visible movement or contact with any operated object. | Right hand: grasp: Right hand closes fingers around the target white hexagonal nut on the table, adjusting finger contact points to establish a grip on the nut."}, {"label": "goal", "start_step": 793, "end_step": 958, "id": "803fad70-0ecb-4d59-b53c-165bf69d0fac"}, {"label": "subtasks", "start_step": 810, "end_step": 839, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty on the left side of the table, keeping static with no visible movement or contact with any operated object. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block clear of the table surface and moves it upward through the air to position above an empty purple peg mounted on the wooden base."}, {"label": "subtasks", "start_step": 840, "end_step": 944, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty on the left side of the table, keeping static with no visible movement or contact with any operated object. | Right hand: mate: Right hand makes small positional and rotational adjustments to the grasped white hexagonal block to align its central hole with the target purple peg, guiding the block downward to fit onto the peg."}, {"label": "subtasks", "start_step": 945, "end_step": 974, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty on the left side of the table, keeping static with no visible movement or contact with any operated object. | Right hand: place_release: Right hand holds the white hexagonal block, moves it downward to seat it on the purple peg of the wooden assembly base, releasing the block once it rests stably on the peg."}, {"label": "goal", "start_step": 959, "end_step": 1026, "id": "4c626bf7-8a6f-4667-acd8-a8101706f8f9"}, {"label": "subtasks", "start_step": 975, "end_step": 1019, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty on the left side of the table, keeping static with no visible movement or contact with any operated object. | Right hand: reach: Right hand moves while empty downward toward the white hexagonal block resting on the black table surface in front of the wooden assembly base."}, {"label": "subtasks", "start_step": 1020, "end_step": 1049, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty on the left side of the table, keeping static with no visible movement or contact with any operated object. | Right hand: grasp: Right hand adjusts finger positions to close around and form a stable grasp on the white hexagonal nut resting on the black table surface."}, {"label": "goal", "start_step": 1027, "end_step": 1214, "id": "9a950ad2-eac5-4c22-bde4-c34f681cb779"}, {"label": "subtasks", "start_step": 1050, "end_step": 1079, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty on the left side of the table, keeping static with no visible movement or contact with any operated object. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward to position directly above the purple plastic rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 1080, "end_step": 1214, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty on the left side of the table, keeping static with no visible movement or contact with any operated object. | Right hand: mate_release: Right hand aligns the white hexagonal nut with the purple plastic rod, lowers the nut to nest securely onto the rod with minor position adjustments, and opens fingers to release contact with the assembled nut."}, {"label": "subtasks", "start_step": 1215, "end_step": 1251, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty on the left side of the table, keeping static with no visible movement or contact with any operated object. | Right hand: reach: Right hand moves downward from the upper assembly area toward the green hexagonal block on the black table surface with fingers slightly open."}, {"label": "goal", "start_step": 1215, "end_step": 1284, "id": "5a148e16-9c86-4bba-af3b-71b2885ec8f6"}, {"label": "subtasks", "start_step": 1252, "end_step": 1297, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty on the left side of the table, keeping static with no visible movement or contact with any operated object. | Right hand: grasp: Right hand closes fingers around the green hexagonal block resting on the table, making small adjustments to finger positions to form a stable grip, with the block still supported by the table."}, {"label": "goal", "start_step": 1285, "end_step": 1434, "id": "a0c7503f-bf13-44a3-9350-e98c7a1a0c0c"}, {"label": "subtasks", "start_step": 1298, "end_step": 1341, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty on the left side of the table, keeping static with no visible movement or contact with any operated object. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block off the table surface and transports it upward to position it above the target purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 1342, "end_step": 1424, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty on the left side of the table, keeping static with no visible movement or contact with any operated object. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the target purple rod, lowers the block to fit it onto the rod, and makes small positional adjustments during the assembly motion."}, {"label": "subtasks", "start_step": 1425, "end_step": 1461, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty on the left side of the table, keeping static with no visible movement or contact with any operated object. | Right hand: place_release: Right hand places the green hexagonal block onto the purple peg of the wooden assembly base and releases its grip on the block."}, {"label": "goal", "start_step": 1435, "end_step": 1506, "id": "a4885ddd-fc16-4e27-bfbd-409979e1f7ca"}, {"label": "subtasks", "start_step": 1462, "end_step": 1499, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty on the left side of the table, keeping static with no visible movement or contact with any operated object. | Right hand: reach: Right hand moves downward toward the green hexagonal block resting on the dark table surface."}, {"label": "subtasks", "start_step": 1500, "end_step": 1521, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty on the left side of the table, keeping static with no visible movement or contact with any operated object. | Right hand: grasp: Right hand adjusts its fingers around the white hexagonal nut on the table to form a stable grip."}, {"label": "goal", "start_step": 1507, "end_step": 1882, "id": "446c9fba-bc96-401e-8309-3c86b4729cc0"}, {"label": "subtasks", "start_step": 1522, "end_step": 1551, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty on the left side of the table, keeping static with no visible movement or contact with any operated object. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it to the position directly above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1552, "end_step": 1874, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty on the left side of the table, keeping static with no visible movement or contact with any operated object. | Right hand: mate: Right hand makes small wrist and finger adjustments to align the white hexagonal nut with the purple rod, moving the nut downward to fit onto the rod."}, {"label": "subtasks", "start_step": 1875, "end_step": 1927, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty on the left side of the table, keeping static with no visible movement or contact with any operated object. | Right hand: reach: Right hand moves downward and rightward from the wooden block assembly area toward the nearest white hexagonal nut on the table, with fingers slightly open."}, {"label": "goal", "start_step": 1883, "end_step": 1942, "id": "7e5b7584-4cee-4cae-a412-16f79876a158"}, {"label": "subtasks", "start_step": 1928, "end_step": 1957, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty on the left side of the table, keeping static with no visible movement or contact with any operated object. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table to establish a stable grip, with the nut remaining on the table surface."}, {"label": "goal", "start_step": 1943, "end_step": 2088, "id": "cad2522c-31ab-4dd2-85e4-8b0d72a5eb24"}, {"label": "subtasks", "start_step": 1958, "end_step": 1994, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty on the left side of the table, keeping static with no visible movement or contact with any operated object. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward and leftward toward the purple vertical rod on the wooden block assembly."}, {"label": "subtasks", "start_step": 1995, "end_step": 2054, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty on the left side of the table, keeping static with no visible movement or contact with any operated object. | Right hand: mate: Right hand aligns the central hole of the grasped white hexagonal nut with the purple vertical rod, fitting the nut onto the rod."}, {"label": "subtasks", "start_step": 2055, "end_step": 2084, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty on the left side of the table, keeping static with no visible movement or contact with any operated object. | Right hand: place_release: Right hand lowers the white hexagonal nut down the purple vertical rod until the nut rests on the wooden base, with fingers opening to release the grip on the nut."}, {"label": "subtasks", "start_step": 2085, "end_step": 2091, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty on the left side of the table, keeping static with no visible movement or contact with any operated object. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the dark table surface with fingers slightly open."}, {"label": "goal", "start_step": 2089, "end_step": 2146, "id": "2077b73d-8a35-4460-bd40-480aa3c4d0da"}, {"label": "subtasks", "start_step": 2092, "end_step": 2099, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty on the left side of the table, keeping static with no visible movement or contact with any operated object. | Right hand: retreat: Right hand moves slightly upward away from the assembled white hexagonal nut, with the hand empty."}, {"label": "subtasks", "start_step": 2100, "end_step": 2121, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty on the left side of the table, keeping static with no visible movement or contact with any operated object. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the dark table surface with fingers slightly open."}, {"label": "subtasks", "start_step": 2122, "end_step": 2159, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty on the left side of the table, keeping static with no visible movement or contact with any operated object. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table to form a stable grip."}, {"label": "goal", "start_step": 2147, "end_step": 2304, "id": "afb21e69-38dc-438b-8eba-e8c7e3c51290"}, {"label": "subtasks", "start_step": 2160, "end_step": 2174, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty on the left side of the table, keeping static with no visible movement or contact with any operated object. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward off the table surface."}, {"label": "subtasks", "start_step": 2175, "end_step": 2204, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty on the left side of the table, keeping static with no visible movement or contact with any operated object. | Right hand: transport: Right hand moves the grasped white hexagonal block upward and leftward to the position directly above the purple peg on the wooden block base."}, {"label": "subtasks", "start_step": 2205, "end_step": 2279, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty on the left side of the table, keeping static with no visible movement or contact with any operated object. | Right hand: mate: Right hand aligns the hole of the white hexagonal block with the purple peg and lowers the block to fit it onto the peg, completing the nested assembly."}, {"label": "subtasks", "start_step": 2280, "end_step": 2294, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty on the left side of the table, keeping static with no visible movement or contact with any operated object. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple peg without moving."}, {"label": "subtasks", "start_step": 2295, "end_step": 2317, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty on the left side of the table, keeping static with no visible movement or contact with any operated object. | Right hand: press: Right hand presses the raised purple pump top of the white bottle on the wooden rack vertically downward until the pump is fully depressed."}, {"label": "goal", "start_step": 2305, "end_step": 2364, "id": "d729394c-3ddb-4291-acb5-dd124666a3c4"}, {"label": "subtasks", "start_step": 2318, "end_step": 2347, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty on the left side of the table, keeping static with no visible movement or contact with any operated object. | Right hand: reach: Right hand moves empty downward from the bottle rack area toward the green cubic block resting on the table surface, approaching the block."}, {"label": "subtasks", "start_step": 2348, "end_step": 2369, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty on the left side of the table, keeping static with no visible movement or contact with any operated object. | Right hand: grasp: Right hand closes fingers around the green cubic block on the table to establish a stable grasp, with the block remaining on the table surface."}, {"label": "goal", "start_step": 2365, "end_step": 2516, "id": "8aa5fbb7-7fb9-486b-afb8-6df5844842ed"}, {"label": "subtasks", "start_step": 2370, "end_step": 2384, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty on the left side of the table, keeping static with no visible movement or contact with any operated object. | Right hand: lift: Right hand lifts the grasped green cubic block vertically upward until the block is fully separated from the table surface."}, {"label": "subtasks", "start_step": 2385, "end_step": 2414, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty on the left side of the table, keeping static with no visible movement or contact with any operated object. | Right hand: transport: Right hand carries the grasped green cubic block upward and leftward to the position directly above the pressed purple pump top on the white bottle."}, {"label": "subtasks", "start_step": 2415, "end_step": 2437, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty on the left side of the table, keeping static with no visible movement or contact with any operated object. | Right hand: place: Right hand lowers the green cubic block vertically downward onto the purple pump top until the block is stably supported by the bottle top."}, {"label": "subtasks", "start_step": 2438, "end_step": 2497, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty on the left side of the table, keeping static with no visible movement or contact with any operated object. | Right hand: hold: Right hand holds the green cubic block seated on the purple pump top without any visible movement of the hand or block."}, {"label": "subtasks", "start_step": 2498, "end_step": 2519, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty on the left side of the table, keeping static with no visible movement or contact with any operated object. | Right hand: release: Right hand opens fingers to release the green cubic block on the bottle top, fully separating the hand from the block."}, {"label": "home", "start_step": 2566, "end_step": 2598, "id": "Yx9JLr_z_90YFNMUrmwff"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 67, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty on the left side of the table, keeping static with no visible movement or contact with any operated object. | Right hand: reach: Right hand moves from the right initial position downward and toward the green hexagonal block placed at the front left of the wooden peg rack, staying empty without contacting the target."}, {"label": "subtasks", "start_step": 68, "end_step": 179, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty on the left side of the table, keeping static with no visible movement or contact with any operated object. | Right hand: grasp: Right hand positions fingers around the target green hexagonal block on the table, adjusting finger contact and closing gradually to establish a stable grasp, with the block remaining on the table surface."}, {"label": "subtasks", "start_step": 180, "end_step": 224, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty on the left side of the table, keeping static with no visible movement or contact with any operated object. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block completely off the black table surface, moving it through the air to position the block directly above the target purple peg on the wooden peg board."}, {"label": "subtasks", "start_step": 225, "end_step": 487, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty on the left side of the table, keeping static with no visible movement or contact with any operated object. | Right hand: mate: Right hand adjusts the position and orientation of the green hexagonal block to align its central hole with the target purple peg, making small fine positional adjustments while lowering the block to fit onto the peg."}, {"label": "subtasks", "start_step": 488, "end_step": 494, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty on the left side of the table, keeping static with no visible movement or contact with any operated object. | Right hand: place: Right hand lowers the green hexagonal block fully onto the wooden peg board surface until the block is stably supported by the board, maintaining grip on the block."}, {"label": "subtasks", "start_step": 495, "end_step": 524, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty on the left side of the table, keeping static with no visible movement or contact with any operated object. | Right hand: place_release: Right hand lowers the white cylindrical block onto the purple peg of the wooden base to rest on the green block below, and releases the block."}, {"label": "subtasks", "start_step": 525, "end_step": 547, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty on the left side of the table, keeping static with no visible movement or contact with any operated object. | Right hand: reach: Right hand moves downward through empty space toward the white hexagonal nut placed on the black table surface."}, {"label": "subtasks", "start_step": 548, "end_step": 599, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty on the left side of the table, keeping static with no visible movement or contact with any operated object. | Right hand: grasp: Right hand brings fingers into contact with the white hexagonal nut, closing fingers and making small positional adjustments to form a grasp."}, {"label": "subtasks", "start_step": 600, "end_step": 621, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty on the left side of the table, keeping static with no visible movement or contact with any operated object. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the table surface and transports it upward to the position above the purple rod on the wooden assembly block."}, {"label": "subtasks", "start_step": 622, "end_step": 704, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty on the left side of the table, keeping static with no visible movement or contact with any operated object. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple rod on the wooden block, lowers the nut to fit onto the rod, and makes slight positional adjustments to seat the nut properly."}, {"label": "subtasks", "start_step": 705, "end_step": 757, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty on the left side of the table, keeping static with no visible movement or contact with any operated object. | Right hand: reach: Right hand moves downward from the position above the wooden block rack toward the white hexagonal nut on the black table, staying empty before contacting the target nut."}, {"label": "subtasks", "start_step": 758, "end_step": 809, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty on the left side of the table, keeping static with no visible movement or contact with any operated object. | Right hand: grasp: Right hand closes fingers around the target white hexagonal nut on the table, adjusting finger contact points to establish a grip on the nut."}, {"label": "subtasks", "start_step": 810, "end_step": 839, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty on the left side of the table, keeping static with no visible movement or contact with any operated object. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block clear of the table surface and moves it upward through the air to position above an empty purple peg mounted on the wooden base."}, {"label": "subtasks", "start_step": 840, "end_step": 944, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty on the left side of the table, keeping static with no visible movement or contact with any operated object. | Right hand: mate: Right hand makes small positional and rotational adjustments to the grasped white hexagonal block to align its central hole with the target purple peg, guiding the block downward to fit onto the peg."}, {"label": "subtasks", "start_step": 945, "end_step": 974, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty on the left side of the table, keeping static with no visible movement or contact with any operated object. | Right hand: place_release: Right hand holds the white hexagonal block, moves it downward to seat it on the purple peg of the wooden assembly base, releasing the block once it rests stably on the peg."}, {"label": "subtasks", "start_step": 975, "end_step": 1019, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty on the left side of the table, keeping static with no visible movement or contact with any operated object. | Right hand: reach: Right hand moves while empty downward toward the white hexagonal block resting on the black table surface in front of the wooden assembly base."}, {"label": "subtasks", "start_step": 1020, "end_step": 1049, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty on the left side of the table, keeping static with no visible movement or contact with any operated object. | Right hand: grasp: Right hand adjusts finger positions to close around and form a stable grasp on the white hexagonal nut resting on the black table surface."}, {"label": "subtasks", "start_step": 1050, "end_step": 1079, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty on the left side of the table, keeping static with no visible movement or contact with any operated object. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward to position directly above the purple plastic rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 1080, "end_step": 1214, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty on the left side of the table, keeping static with no visible movement or contact with any operated object. | Right hand: mate_release: Right hand aligns the white hexagonal nut with the purple plastic rod, lowers the nut to nest securely onto the rod with minor position adjustments, and opens fingers to release contact with the assembled nut."}, {"label": "subtasks", "start_step": 1215, "end_step": 1251, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty on the left side of the table, keeping static with no visible movement or contact with any operated object. | Right hand: reach: Right hand moves downward from the upper assembly area toward the green hexagonal block on the black table surface with fingers slightly open."}, {"label": "subtasks", "start_step": 1252, "end_step": 1297, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty on the left side of the table, keeping static with no visible movement or contact with any operated object. | Right hand: grasp: Right hand closes fingers around the green hexagonal block resting on the table, making small adjustments to finger positions to form a stable grip, with the block still supported by the table."}, {"label": "subtasks", "start_step": 1298, "end_step": 1341, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty on the left side of the table, keeping static with no visible movement or contact with any operated object. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block off the table surface and transports it upward to position it above the target purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 1342, "end_step": 1424, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty on the left side of the table, keeping static with no visible movement or contact with any operated object. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the target purple rod, lowers the block to fit it onto the rod, and makes small positional adjustments during the assembly motion."}, {"label": "subtasks", "start_step": 1425, "end_step": 1461, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty on the left side of the table, keeping static with no visible movement or contact with any operated object. | Right hand: place_release: Right hand places the green hexagonal block onto the purple peg of the wooden assembly base and releases its grip on the block."}, {"label": "subtasks", "start_step": 1462, "end_step": 1499, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty on the left side of the table, keeping static with no visible movement or contact with any operated object. | Right hand: reach: Right hand moves downward toward the green hexagonal block resting on the dark table surface."}, {"label": "subtasks", "start_step": 1500, "end_step": 1521, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty on the left side of the table, keeping static with no visible movement or contact with any operated object. | Right hand: grasp: Right hand adjusts its fingers around the white hexagonal nut on the table to form a stable grip."}, {"label": "subtasks", "start_step": 1522, "end_step": 1551, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty on the left side of the table, keeping static with no visible movement or contact with any operated object. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it to the position directly above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1552, "end_step": 1874, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty on the left side of the table, keeping static with no visible movement or contact with any operated object. | Right hand: mate: Right hand makes small wrist and finger adjustments to align the white hexagonal nut with the purple rod, moving the nut downward to fit onto the rod."}, {"label": "subtasks", "start_step": 1875, "end_step": 1927, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty on the left side of the table, keeping static with no visible movement or contact with any operated object. | Right hand: reach: Right hand moves downward and rightward from the wooden block assembly area toward the nearest white hexagonal nut on the table, with fingers slightly open."}, {"label": "subtasks", "start_step": 1928, "end_step": 1957, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty on the left side of the table, keeping static with no visible movement or contact with any operated object. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table to establish a stable grip, with the nut remaining on the table surface."}, {"label": "subtasks", "start_step": 1958, "end_step": 1994, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty on the left side of the table, keeping static with no visible movement or contact with any operated object. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward and leftward toward the purple vertical rod on the wooden block assembly."}, {"label": "subtasks", "start_step": 1995, "end_step": 2054, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty on the left side of the table, keeping static with no visible movement or contact with any operated object. | Right hand: mate: Right hand aligns the central hole of the grasped white hexagonal nut with the purple vertical rod, fitting the nut onto the rod."}, {"label": "subtasks", "start_step": 2055, "end_step": 2084, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty on the left side of the table, keeping static with no visible movement or contact with any operated object. | Right hand: place_release: Right hand lowers the white hexagonal nut down the purple vertical rod until the nut rests on the wooden base, with fingers opening to release the grip on the nut."}, {"label": "subtasks", "start_step": 2085, "end_step": 2091, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty on the left side of the table, keeping static with no visible movement or contact with any operated object. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the dark table surface with fingers slightly open."}, {"label": "subtasks", "start_step": 2092, "end_step": 2099, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty on the left side of the table, keeping static with no visible movement or contact with any operated object. | Right hand: retreat: Right hand moves slightly upward away from the assembled white hexagonal nut, with the hand empty."}, {"label": "subtasks", "start_step": 2100, "end_step": 2121, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty on the left side of the table, keeping static with no visible movement or contact with any operated object. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the dark table surface with fingers slightly open."}, {"label": "subtasks", "start_step": 2122, "end_step": 2159, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty on the left side of the table, keeping static with no visible movement or contact with any operated object. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table to form a stable grip."}, {"label": "subtasks", "start_step": 2160, "end_step": 2174, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty on the left side of the table, keeping static with no visible movement or contact with any operated object. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward off the table surface."}, {"label": "subtasks", "start_step": 2175, "end_step": 2204, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty on the left side of the table, keeping static with no visible movement or contact with any operated object. | Right hand: transport: Right hand moves the grasped white hexagonal block upward and leftward to the position directly above the purple peg on the wooden block base."}, {"label": "subtasks", "start_step": 2205, "end_step": 2279, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty on the left side of the table, keeping static with no visible movement or contact with any operated object. | Right hand: mate: Right hand aligns the hole of the white hexagonal block with the purple peg and lowers the block to fit it onto the peg, completing the nested assembly."}, {"label": "subtasks", "start_step": 2280, "end_step": 2294, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty on the left side of the table, keeping static with no visible movement or contact with any operated object. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple peg without moving."}, {"label": "subtasks", "start_step": 2295, "end_step": 2317, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty on the left side of the table, keeping static with no visible movement or contact with any operated object. | Right hand: press: Right hand presses the raised purple pump top of the white bottle on the wooden rack vertically downward until the pump is fully depressed."}, {"label": "subtasks", "start_step": 2318, "end_step": 2347, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty on the left side of the table, keeping static with no visible movement or contact with any operated object. | Right hand: reach: Right hand moves empty downward from the bottle rack area toward the green cubic block resting on the table surface, approaching the block."}, {"label": "subtasks", "start_step": 2348, "end_step": 2369, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty on the left side of the table, keeping static with no visible movement or contact with any operated object. | Right hand: grasp: Right hand closes fingers around the green cubic block on the table to establish a stable grasp, with the block remaining on the table surface."}, {"label": "subtasks", "start_step": 2370, "end_step": 2384, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty on the left side of the table, keeping static with no visible movement or contact with any operated object. | Right hand: lift: Right hand lifts the grasped green cubic block vertically upward until the block is fully separated from the table surface."}, {"label": "subtasks", "start_step": 2385, "end_step": 2414, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty on the left side of the table, keeping static with no visible movement or contact with any operated object. | Right hand: transport: Right hand carries the grasped green cubic block upward and leftward to the position directly above the pressed purple pump top on the white bottle."}, {"label": "subtasks", "start_step": 2415, "end_step": 2437, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty on the left side of the table, keeping static with no visible movement or contact with any operated object. | Right hand: place: Right hand lowers the green cubic block vertically downward onto the purple pump top until the block is stably supported by the bottle top."}, {"label": "subtasks", "start_step": 2438, "end_step": 2497, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty on the left side of the table, keeping static with no visible movement or contact with any operated object. | Right hand: hold: Right hand holds the green cubic block seated on the purple pump top without any visible movement of the hand or block."}, {"label": "subtasks", "start_step": 2498, "end_step": 2519, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty on the left side of the table, keeping static with no visible movement or contact with any operated object. | Right hand: release: Right hand opens fingers to release the green cubic block on the bottle top, fully separating the hand from the block."}], "episode_index": 17}
+{"source_uid": "4dcee1348c762586", "num_frames": 2349, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "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 workspace without moving. | Right hand: reach: Right hand moves leftward and downward from the right side of the workspace toward the green hexagonal block in front of the wooden base, with fingers open."}, {"label": "goal", "start_step": 0, "end_step": 154, "id": "e4c5d360-b565-4467-a675-95d54684bf6a"}, {"label": "valid", "start_step": 0, "end_step": 2314, "id": "BGOreXg5zh0IlbSnDhuQw"}, {"label": "subtasks", "start_step": 98, "end_step": 171, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green hexagonal block on the table, with slight finger adjustments to stabilize the grip."}, {"label": "goal", "start_step": 155, "end_step": 278, "id": "1a49673b-401c-464a-a7cf-4c379280b838"}, {"label": "subtasks", "start_step": 172, "end_step": 187, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it towards the wooden rack with purple pegs."}, {"label": "subtasks", "start_step": 188, "end_step": 231, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the leftmost purple peg on the wooden rack and fits it onto the peg."}, {"label": "subtasks", "start_step": 232, "end_step": 269, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: hold: Right hand holds the green hexagonal block fitted on the leftmost purple peg without moving."}, {"label": "subtasks", "start_step": 270, "end_step": 299, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: place_release: Right hand places the white hexagonal block onto the left front peg of the pegboard and releases the block."}, {"label": "goal", "start_step": 279, "end_step": 356, "id": "f19a5dec-be50-47e1-84e4-49230abbba56"}, {"label": "subtasks", "start_step": 300, "end_step": 329, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves downward from the pegboard toward the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 330, "end_step": 374, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table surface with fingers closing around it."}, {"label": "goal", "start_step": 357, "end_step": 518, "id": "e0a5be76-adb4-486f-a08c-e8b526babf6d"}, {"label": "subtasks", "start_step": 375, "end_step": 397, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal object off the tabletop and transports it to the top of the leftmost purple peg."}, {"label": "subtasks", "start_step": 398, "end_step": 479, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand mates the white hexagonal object onto the leftmost purple peg, lowering it along the peg until it reaches the green base."}, {"label": "subtasks", "start_step": 480, "end_step": 509, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: hold: Right hand holds the white hexagonal object on the leftmost purple peg without moving."}, {"label": "subtasks", "start_step": 510, "end_step": 524, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: press: Right hand presses the white cylindrical piece onto the purple post on the wooden assembly board."}, {"label": "goal", "start_step": 519, "end_step": 588, "id": "65f2f8b9-5163-4ac6-b90c-302beefac3b3"}, {"label": "subtasks", "start_step": 525, "end_step": 547, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table, keeping empty and not touching the block."}, {"label": "subtasks", "start_step": 548, "end_step": 607, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 589, "end_step": 708, "id": "f2b5abe9-e6cd-46b3-b67b-33be9785e644"}, {"label": "subtasks", "start_step": 608, "end_step": 621, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal piece off the table and moves it toward the leftmost peg on the wooden base."}, {"label": "subtasks", "start_step": 622, "end_step": 681, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand aligns the white hexagonal piece with the leftmost peg and lowers it to nest the piece onto the peg."}, {"label": "subtasks", "start_step": 682, "end_step": 697, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: release: Right hand opens its fingers to release the white hexagonal piece, separating from the piece."}, {"label": "subtasks", "start_step": 698, "end_step": 704, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: idle: Right hand remains empty above the leftmost peg without moving."}, {"label": "subtasks", "start_step": 705, "end_step": 764, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves downward to approach the white hexagonal ring on the table in front of the wooden peg base."}, {"label": "goal", "start_step": 709, "end_step": 776, "id": "b2f8437f-0e62-4f57-86f9-0078bd06ad18"}, {"label": "subtasks", "start_step": 765, "end_step": 794, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal ring on the table, with slight grip adjustment."}, {"label": "goal", "start_step": 777, "end_step": 908, "id": "d84ec979-3c20-4df1-be25-929d318f1b04"}, {"label": "subtasks", "start_step": 795, "end_step": 817, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal ring off the table and transports it upward to the position above the middle purple peg."}, {"label": "subtasks", "start_step": 818, "end_step": 877, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand aligns the white hexagonal ring with the middle purple peg and lowers it onto the peg to complete the fitting."}, {"label": "subtasks", "start_step": 878, "end_step": 899, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: release: Right hand opens its fingers to release the white hexagonal ring fitted on the middle purple peg."}, {"label": "subtasks", "start_step": 900, "end_step": 929, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand mates the white cylindrical piece with the purple peg on the wooden base."}, {"label": "goal", "start_step": 909, "end_step": 979, "id": "d79a2c65-7422-4226-b189-42bcec8df1d0"}, {"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 workspace without moving. | Right hand: reach: Right hand reaches downward toward the green hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 952, "end_step": 989, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table surface with fingers closing."}, {"label": "goal", "start_step": 980, "end_step": 1207, "id": "8b83fd61-b6a8-48f3-b1ad-cf6952c016a9"}, {"label": "subtasks", "start_step": 990, "end_step": 1027, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table and transports it above the wooden peg board."}, {"label": "subtasks", "start_step": 1028, "end_step": 1079, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the middle peg on the wooden board and fits it onto the peg."}, {"label": "subtasks", "start_step": 1080, "end_step": 1199, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: hold: Right hand holds the green hexagonal block on the middle peg of the wooden board without moving."}, {"label": "subtasks", "start_step": 1200, "end_step": 1229, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate_release: Right hand mates the green hexagonal block onto the middle vertical peg of the wooden base and releases the block."}, {"label": "goal", "start_step": 1208, "end_step": 1279, "id": "f0a9a77a-5140-4ed5-8c42-f55dbfe3e839"}, {"label": "subtasks", "start_step": 1230, "end_step": 1259, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the dark table surface."}, {"label": "subtasks", "start_step": 1260, "end_step": 1297, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the dark table surface with fingers closing around it."}, {"label": "goal", "start_step": 1280, "end_step": 1411, "id": "95f4a258-d626-48fd-8bd5-d50d19ebacd4"}, {"label": "subtasks", "start_step": 1298, "end_step": 1319, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it upward and leftward to the position above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1320, "end_step": 1357, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand aligns the hole of the white hexagonal block with the purple peg and inserts it downward onto the peg to complete the assembly."}, {"label": "subtasks", "start_step": 1358, "end_step": 1409, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple peg without moving."}, {"label": "subtasks", "start_step": 1410, "end_step": 1447, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves downward from the block assembly area toward the upper white hexagonal block on the black table."}, {"label": "goal", "start_step": 1412, "end_step": 1469, "id": "8779f629-b9c6-48fb-8803-bb8a04e82743"}, {"label": "subtasks", "start_step": 1448, "end_step": 1469, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand grasps the upper white hexagonal block on the black table, with fingers closing around the block."}, {"label": "subtasks", "start_step": 1470, "end_step": 1544, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: hold: Right hand holds the upper white hexagonal block on the black table without moving."}, {"label": "goal", "start_step": 1470, "end_step": 1675, "id": "15d96687-107c-4dfe-b893-306ec829fb6e"}, {"label": "subtasks", "start_step": 1545, "end_step": 1559, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift: Right hand lifts the upper white hexagonal block up from the black table surface."}, {"label": "subtasks", "start_step": 1560, "end_step": 1604, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: transport: Right hand transports the white hexagonal block upward and leftward to the top of the purple rod."}, {"label": "subtasks", "start_step": 1605, "end_step": 1664, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod by aligning the hole and lowering the block onto the rod."}, {"label": "subtasks", "start_step": 1665, "end_step": 1694, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: release: Right hand releases the white hexagonal ring on the purple rod of the wooden base, with fingers opening to separate from the ring."}, {"label": "goal", "start_step": 1676, "end_step": 1739, "id": "bf41310f-9b6c-477a-b568-83021ee61172"}, {"label": "subtasks", "start_step": 1695, "end_step": 1739, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves downward from the purple rod toward the white hexagonal ring on the black table."}, {"label": "subtasks", "start_step": 1740, "end_step": 1754, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand grasps the white hexagonal ring on the black table, with fingers closing around the ring to form a stable grip."}, {"label": "goal", "start_step": 1740, "end_step": 1875, "id": "e1a31128-462f-4f64-9c14-d58c6c970ee9"}, {"label": "subtasks", "start_step": 1755, "end_step": 1791, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal ring off the black table and transports it upward to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1792, "end_step": 1867, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand mates the white hexagonal ring with the purple rod, lowering it along the rod until it rests on the lower white block."}, {"label": "subtasks", "start_step": 1868, "end_step": 1889, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: release: Right hand releases the white hexagonal ring on the purple rod, with fingers opening to separate from the ring."}, {"label": "goal", "start_step": 1876, "end_step": 1997, "id": "5bb21685-c730-4c04-81d1-028b522d3794"}, {"label": "subtasks", "start_step": 1890, "end_step": 1927, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand reaches towards the green block on the table below the wooden tray."}, {"label": "subtasks", "start_step": 1928, "end_step": 1957, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand grasps the green block on the table with fingers closing and adjusting grip."}, {"label": "subtasks", "start_step": 1958, "end_step": 1971, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: release: Right hand releases the green block on the table with fingers opening."}, {"label": "subtasks", "start_step": 1972, "end_step": 1994, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: idle: Right hand remains empty above the green block on the table without moving."}, {"label": "subtasks", "start_step": 1995, "end_step": 2009, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach_grasp: Right hand reaches towards and grasps the green block on the table."}, {"label": "goal", "start_step": 1998, "end_step": 2273, "id": "01a6dc30-8e19-4eaa-ac38-afff14db943a"}, {"label": "subtasks", "start_step": 2010, "end_step": 2024, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift: Right hand lifts the green square block from the right side of the table surface."}, {"label": "subtasks", "start_step": 2025, "end_step": 2054, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: transport: Right hand transports the green square block leftward and upward to the top of the front-right white column on the wooden base."}, {"label": "subtasks", "start_step": 2055, "end_step": 2241, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand mates the green square block with the front-right white column by fitting it down onto the column."}, {"label": "subtasks", "start_step": 2242, "end_step": 2279, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: release: Right hand releases the green square block fitted on the front-right white column."}, {"label": "home", "start_step": 2315, "end_step": 2348, "id": "2o8l-T6yVDyOf4dmMcNr5"}], "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 workspace without moving. | Right hand: reach: Right hand moves leftward and downward from the right side of the workspace toward the green hexagonal block in front of the wooden base, with fingers open."}, {"label": "subtasks", "start_step": 98, "end_step": 171, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green hexagonal block on the table, with slight finger adjustments to stabilize the grip."}, {"label": "subtasks", "start_step": 172, "end_step": 187, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it towards the wooden rack with purple pegs."}, {"label": "subtasks", "start_step": 188, "end_step": 231, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the leftmost purple peg on the wooden rack and fits it onto the peg."}, {"label": "subtasks", "start_step": 232, "end_step": 269, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: hold: Right hand holds the green hexagonal block fitted on the leftmost purple peg without moving."}, {"label": "subtasks", "start_step": 270, "end_step": 299, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: place_release: Right hand places the white hexagonal block onto the left front peg of the pegboard and releases the block."}, {"label": "subtasks", "start_step": 300, "end_step": 329, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves downward from the pegboard toward the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 330, "end_step": 374, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table surface with fingers closing around it."}, {"label": "subtasks", "start_step": 375, "end_step": 397, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal object off the tabletop and transports it to the top of the leftmost purple peg."}, {"label": "subtasks", "start_step": 398, "end_step": 479, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand mates the white hexagonal object onto the leftmost purple peg, lowering it along the peg until it reaches the green base."}, {"label": "subtasks", "start_step": 480, "end_step": 509, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: hold: Right hand holds the white hexagonal object on the leftmost purple peg without moving."}, {"label": "subtasks", "start_step": 510, "end_step": 524, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: press: Right hand presses the white cylindrical piece onto the purple post on the wooden assembly board."}, {"label": "subtasks", "start_step": 525, "end_step": 547, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table, keeping empty and not touching the block."}, {"label": "subtasks", "start_step": 548, "end_step": 607, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 608, "end_step": 621, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal piece off the table and moves it toward the leftmost peg on the wooden base."}, {"label": "subtasks", "start_step": 622, "end_step": 681, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand aligns the white hexagonal piece with the leftmost peg and lowers it to nest the piece onto the peg."}, {"label": "subtasks", "start_step": 682, "end_step": 697, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: release: Right hand opens its fingers to release the white hexagonal piece, separating from the piece."}, {"label": "subtasks", "start_step": 698, "end_step": 704, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: idle: Right hand remains empty above the leftmost peg without moving."}, {"label": "subtasks", "start_step": 705, "end_step": 764, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves downward to approach the white hexagonal ring on the table in front of the wooden peg base."}, {"label": "subtasks", "start_step": 765, "end_step": 794, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal ring on the table, with slight grip adjustment."}, {"label": "subtasks", "start_step": 795, "end_step": 817, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal ring off the table and transports it upward to the position above the middle purple peg."}, {"label": "subtasks", "start_step": 818, "end_step": 877, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand aligns the white hexagonal ring with the middle purple peg and lowers it onto the peg to complete the fitting."}, {"label": "subtasks", "start_step": 878, "end_step": 899, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: release: Right hand opens its fingers to release the white hexagonal ring fitted on the middle purple peg."}, {"label": "subtasks", "start_step": 900, "end_step": 929, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand mates the white cylindrical piece with the purple peg on the wooden base."}, {"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 workspace without moving. | Right hand: reach: Right hand reaches downward toward the green hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 952, "end_step": 989, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table surface with fingers closing."}, {"label": "subtasks", "start_step": 990, "end_step": 1027, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table and transports it above the wooden peg board."}, {"label": "subtasks", "start_step": 1028, "end_step": 1079, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the middle peg on the wooden board and fits it onto the peg."}, {"label": "subtasks", "start_step": 1080, "end_step": 1199, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: hold: Right hand holds the green hexagonal block on the middle peg of the wooden board without moving."}, {"label": "subtasks", "start_step": 1200, "end_step": 1229, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate_release: Right hand mates the green hexagonal block onto the middle vertical peg of the wooden base and releases the block."}, {"label": "subtasks", "start_step": 1230, "end_step": 1259, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the dark table surface."}, {"label": "subtasks", "start_step": 1260, "end_step": 1297, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the dark table surface with fingers closing around it."}, {"label": "subtasks", "start_step": 1298, "end_step": 1319, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it upward and leftward to the position above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1320, "end_step": 1357, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand aligns the hole of the white hexagonal block with the purple peg and inserts it downward onto the peg to complete the assembly."}, {"label": "subtasks", "start_step": 1358, "end_step": 1409, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple peg without moving."}, {"label": "subtasks", "start_step": 1410, "end_step": 1447, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves downward from the block assembly area toward the upper white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 1448, "end_step": 1469, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand grasps the upper white hexagonal block on the black table, with fingers closing around the block."}, {"label": "subtasks", "start_step": 1470, "end_step": 1544, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: hold: Right hand holds the upper white hexagonal block on the black table without moving."}, {"label": "subtasks", "start_step": 1545, "end_step": 1559, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift: Right hand lifts the upper white hexagonal block up from the black table surface."}, {"label": "subtasks", "start_step": 1560, "end_step": 1604, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: transport: Right hand transports the white hexagonal block upward and leftward to the top of the purple rod."}, {"label": "subtasks", "start_step": 1605, "end_step": 1664, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod by aligning the hole and lowering the block onto the rod."}, {"label": "subtasks", "start_step": 1665, "end_step": 1694, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: release: Right hand releases the white hexagonal ring on the purple rod of the wooden base, with fingers opening to separate from the ring."}, {"label": "subtasks", "start_step": 1695, "end_step": 1739, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves downward from the purple rod toward the white hexagonal ring on the black table."}, {"label": "subtasks", "start_step": 1740, "end_step": 1754, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand grasps the white hexagonal ring on the black table, with fingers closing around the ring to form a stable grip."}, {"label": "subtasks", "start_step": 1755, "end_step": 1791, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal ring off the black table and transports it upward to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1792, "end_step": 1867, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand mates the white hexagonal ring with the purple rod, lowering it along the rod until it rests on the lower white block."}, {"label": "subtasks", "start_step": 1868, "end_step": 1889, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: release: Right hand releases the white hexagonal ring on the purple rod, with fingers opening to separate from the ring."}, {"label": "subtasks", "start_step": 1890, "end_step": 1927, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand reaches towards the green block on the table below the wooden tray."}, {"label": "subtasks", "start_step": 1928, "end_step": 1957, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand grasps the green block on the table with fingers closing and adjusting grip."}, {"label": "subtasks", "start_step": 1958, "end_step": 1971, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: release: Right hand releases the green block on the table with fingers opening."}, {"label": "subtasks", "start_step": 1972, "end_step": 1994, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: idle: Right hand remains empty above the green block on the table without moving."}, {"label": "subtasks", "start_step": 1995, "end_step": 2009, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach_grasp: Right hand reaches towards and grasps the green block on the table."}, {"label": "subtasks", "start_step": 2010, "end_step": 2024, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift: Right hand lifts the green square block from the right side of the table surface."}, {"label": "subtasks", "start_step": 2025, "end_step": 2054, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: transport: Right hand transports the green square block leftward and upward to the top of the front-right white column on the wooden base."}, {"label": "subtasks", "start_step": 2055, "end_step": 2241, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand mates the green square block with the front-right white column by fitting it down onto the column."}, {"label": "subtasks", "start_step": 2242, "end_step": 2279, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: release: Right hand releases the green square block fitted on the front-right white column."}], "episode_index": 18}
+{"source_uid": "f01be3017474afba", "num_frames": 2790, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 51, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves towards the green hexagonal block placed on the black table near the wooden rack."}, {"label": "goal", "start_step": 0, "end_step": 148, "id": "a95866b3-210f-4d70-99f6-08726cd18a38"}, {"label": "valid", "start_step": 0, "end_step": 2757, "id": "TCy-rq4of2VsyDwVn4sbu"}, {"label": "subtasks", "start_step": 52, "end_step": 164, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand closes fingers to adjust contact and establish stable grasp on the green hexagonal block."}, {"label": "goal", "start_step": 149, "end_step": 338, "id": "00fd3d7f-e7dd-49af-84da-cd6f5ad0066e"}, {"label": "subtasks", "start_step": 165, "end_step": 201, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and moves it to the position above the leftmost peg of the wooden base."}, {"label": "subtasks", "start_step": 202, "end_step": 269, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand aligns the green block with the leftmost peg and inserts the block onto the peg."}, {"label": "subtasks", "start_step": 270, "end_step": 329, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: press: Right hand presses the green block down along the peg to fit it firmly in position."}, {"label": "subtasks", "start_step": 330, "end_step": 359, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: press_release: Right hand presses the green block onto the purple peg on the wooden base before releasing it."}, {"label": "goal", "start_step": 339, "end_step": 426, "id": "7c49cf4f-5077-4037-a273-ebc3bf82635b"}, {"label": "subtasks", "start_step": 360, "end_step": 374, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves downward from the wooden base toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 375, "end_step": 441, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand adjusts fingers to form a stable grip on the white hexagonal block on the table."}, {"label": "goal", "start_step": 427, "end_step": 560, "id": "230ccdcf-bcb0-4b53-9feb-f04fcd16681f"}, {"label": "subtasks", "start_step": 442, "end_step": 471, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal object from the table and transports it to the top of the leftmost purple rod on the wooden base."}, {"label": "subtasks", "start_step": 472, "end_step": 509, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand aligns the white hexagonal object with the leftmost purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 510, "end_step": 554, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: press: Right hand presses the white hexagonal object down along the purple rod to the bottom position."}, {"label": "subtasks", "start_step": 555, "end_step": 577, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: release: Right hand releases the white cylindrical block on the peg of the wooden base."}, {"label": "goal", "start_step": 561, "end_step": 638, "id": "1e85e8d3-26b5-4b1a-874b-f489eb0c79a9"}, {"label": "subtasks", "start_step": 578, "end_step": 614, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block placed on the black tabletop."}, {"label": "subtasks", "start_step": 615, "end_step": 711, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black tabletop with fingers closing around it."}, {"label": "goal", "start_step": 639, "end_step": 858, "id": "a5d6cd66-91b0-4ea9-9756-b0bd8af2daab"}, {"label": "subtasks", "start_step": 712, "end_step": 727, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift: Right hand lifts the white hexagonal block up from the black table."}, {"label": "subtasks", "start_step": 728, "end_step": 749, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: transport: Right hand transports the white hexagonal block to above the leftmost purple rod on the wooden test tube rack."}, {"label": "subtasks", "start_step": 750, "end_step": 831, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: place: Right hand places the white hexagonal block onto the leftmost purple rod of the wooden test tube rack."}, {"label": "subtasks", "start_step": 832, "end_step": 854, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: release: Right hand releases the white hexagonal block fitted on the leftmost purple rod."}, {"label": "subtasks", "start_step": 855, "end_step": 869, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: retreat: Right hand retreats upward away from the white hexagonal block."}, {"label": "goal", "start_step": 859, "end_step": 940, "id": "de612552-7ade-4a35-9995-38cd768699df"}, {"label": "subtasks", "start_step": 870, "end_step": 884, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: place: Right hand places the white hollow cylinder onto the purple rod of the wooden base."}, {"label": "subtasks", "start_step": 885, "end_step": 929, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand reaches towards the white hexagonal object on the table in front of the wooden base."}, {"label": "subtasks", "start_step": 930, "end_step": 959, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table in front of the wooden rack."}, {"label": "goal", "start_step": 941, "end_step": 1056, "id": "c4f7d79d-014b-4394-a686-4366d5bbeddc"}, {"label": "subtasks", "start_step": 960, "end_step": 989, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it above the rear right pillar of the wooden rack."}, {"label": "subtasks", "start_step": 990, "end_step": 1049, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand mates the white hexagonal block with the rear right pillar of the wooden rack by inserting it downwards onto the pillar."}, {"label": "subtasks", "start_step": 1050, "end_step": 1079, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: place: Right hand places the white hexagonal block onto the target peg on the wooden base."}, {"label": "goal", "start_step": 1057, "end_step": 1122, "id": "3c8dcbd3-e705-42c4-86f9-a69577e8c162"}, {"label": "subtasks", "start_step": 1080, "end_step": 1139, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves downward towards the green cubic block on the table surface."}, {"label": "goal", "start_step": 1123, "end_step": 1724, "id": "70b9910a-8e51-4a58-9ee4-2940aff5adfa"}, {"label": "subtasks", "start_step": 1140, "end_step": 1154, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand closes its fingers to form a stable grasp on the green cubic block."}, {"label": "subtasks", "start_step": 1155, "end_step": 1169, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift: Right hand lifts the green cubic block completely off the table surface."}, {"label": "subtasks", "start_step": 1170, "end_step": 1191, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: transport: Right hand transports the green cubic block to the area above the wooden base."}, {"label": "subtasks", "start_step": 1192, "end_step": 1641, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand aligns the green cubic block with the top of the target peg on the wooden base and presses it down to assemble."}, {"label": "subtasks", "start_step": 1642, "end_step": 1724, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand makes slight finger adjustments to the position of the green cubic block on the peg."}, {"label": "subtasks", "start_step": 1725, "end_step": 1754, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand mates the white cylindrical block onto the purple peg on the wooden base."}, {"label": "goal", "start_step": 1725, "end_step": 1828, "id": "d31484b6-9ebc-4342-8090-f09d25d14fde"}, {"label": "subtasks", "start_step": 1755, "end_step": 1799, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves downwards towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1800, "end_step": 1844, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the black table surface."}, {"label": "goal", "start_step": 1829, "end_step": 1954, "id": "b51df9e7-e683-4a9d-8ce1-38b305e16248"}, {"label": "subtasks", "start_step": 1845, "end_step": 1867, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the white hollow cylinder from the table and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1868, "end_step": 1949, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand aligns the white hollow cylinder with the purple rod on the wooden base and inserts it downwards to complete assembly."}, {"label": "subtasks", "start_step": 1950, "end_step": 1979, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: place: Right hand places the white cylindrical object onto the corresponding peg on the wooden base."}, {"label": "goal", "start_step": 1955, "end_step": 2094, "id": "becbed5e-fb37-4b53-acc3-5e7c57076f1b"}, {"label": "subtasks", "start_step": 1980, "end_step": 1994, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: release: Right hand releases the white cylindrical object after completing the placement."}, {"label": "subtasks", "start_step": 1995, "end_step": 2039, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves downward and rightward towards the white hexagonal object on the black tabletop."}, {"label": "subtasks", "start_step": 2040, "end_step": 2114, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand grasps and adjusts contact with the white hexagonal object on the black tabletop."}, {"label": "goal", "start_step": 2095, "end_step": 2262, "id": "9813155c-be4b-4dd5-8c72-66bdf7c919ad"}, {"label": "subtasks", "start_step": 2115, "end_step": 2144, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2145, "end_step": 2241, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 2242, "end_step": 2249, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: release_retreat: Right hand releases the white hexagonal block on the purple rod and moves away from the wooden base."}, {"label": "subtasks", "start_step": 2250, "end_step": 2324, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves towards the white hexagonal block on the black tabletop."}, {"label": "goal", "start_step": 2263, "end_step": 2318, "id": "b780af05-31be-46d1-a2b5-541f145739cb"}, {"label": "goal", "start_step": 2319, "end_step": 2486, "id": "9a57316a-b675-4d51-9ec2-410a2edba44a"}, {"label": "subtasks", "start_step": 2325, "end_step": 2339, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the tabletop."}, {"label": "subtasks", "start_step": 2340, "end_step": 2361, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the tabletop and moves it towards the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 2362, "end_step": 2467, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: place: Right hand places the white hexagonal block onto the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 2468, "end_step": 2497, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: release: Right hand releases the white hexagonal block on the purple peg."}, {"label": "goal", "start_step": 2487, "end_step": 2550, "id": "b5954b32-3eb6-4c67-be8f-e81b3796f0df"}, {"label": "subtasks", "start_step": 2498, "end_step": 2541, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves towards the green square block on the dark table surface."}, {"label": "subtasks", "start_step": 2542, "end_step": 2579, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand grasps the green square block on the dark table surface."}, {"label": "goal", "start_step": 2551, "end_step": 2702, "id": "2fe0f22a-aec6-494c-bd6f-6287024b622c"}, {"label": "subtasks", "start_step": 2580, "end_step": 2609, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the green cubic block off the table and transports it towards the white pillar on the wooden tray."}, {"label": "subtasks", "start_step": 2610, "end_step": 2691, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand aligns the green cubic block with the top of the target white pillar and fits the block onto the pillar."}, {"label": "subtasks", "start_step": 2692, "end_step": 2707, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: release: Right hand opens its fingers to release the green cubic block fitted on the white pillar."}, {"label": "subtasks", "start_step": 2708, "end_step": 2714, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: retreat: Right hand moves slightly away from the wooden tray after releasing the block."}, {"label": "home", "start_step": 2758, "end_step": 2789, "id": "n9-e_Cbwznfd168CP7QA3"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 51, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves towards the green hexagonal block placed on the black table near the wooden rack."}, {"label": "subtasks", "start_step": 52, "end_step": 164, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand closes fingers to adjust contact and establish stable grasp on the green hexagonal block."}, {"label": "subtasks", "start_step": 165, "end_step": 201, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and moves it to the position above the leftmost peg of the wooden base."}, {"label": "subtasks", "start_step": 202, "end_step": 269, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand aligns the green block with the leftmost peg and inserts the block onto the peg."}, {"label": "subtasks", "start_step": 270, "end_step": 329, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: press: Right hand presses the green block down along the peg to fit it firmly in position."}, {"label": "subtasks", "start_step": 330, "end_step": 359, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: press_release: Right hand presses the green block onto the purple peg on the wooden base before releasing it."}, {"label": "subtasks", "start_step": 360, "end_step": 374, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves downward from the wooden base toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 375, "end_step": 441, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand adjusts fingers to form a stable grip on the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 442, "end_step": 471, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal object from the table and transports it to the top of the leftmost purple rod on the wooden base."}, {"label": "subtasks", "start_step": 472, "end_step": 509, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand aligns the white hexagonal object with the leftmost purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 510, "end_step": 554, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: press: Right hand presses the white hexagonal object down along the purple rod to the bottom position."}, {"label": "subtasks", "start_step": 555, "end_step": 577, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: release: Right hand releases the white cylindrical block on the peg of the wooden base."}, {"label": "subtasks", "start_step": 578, "end_step": 614, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block placed on the black tabletop."}, {"label": "subtasks", "start_step": 615, "end_step": 711, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black tabletop with fingers closing around it."}, {"label": "subtasks", "start_step": 712, "end_step": 727, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift: Right hand lifts the white hexagonal block up from the black table."}, {"label": "subtasks", "start_step": 728, "end_step": 749, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: transport: Right hand transports the white hexagonal block to above the leftmost purple rod on the wooden test tube rack."}, {"label": "subtasks", "start_step": 750, "end_step": 831, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: place: Right hand places the white hexagonal block onto the leftmost purple rod of the wooden test tube rack."}, {"label": "subtasks", "start_step": 832, "end_step": 854, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: release: Right hand releases the white hexagonal block fitted on the leftmost purple rod."}, {"label": "subtasks", "start_step": 855, "end_step": 869, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: retreat: Right hand retreats upward away from the white hexagonal block."}, {"label": "subtasks", "start_step": 870, "end_step": 884, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: place: Right hand places the white hollow cylinder onto the purple rod of the wooden base."}, {"label": "subtasks", "start_step": 885, "end_step": 929, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand reaches towards the white hexagonal object on the table in front of the wooden base."}, {"label": "subtasks", "start_step": 930, "end_step": 959, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table in front of the wooden rack."}, {"label": "subtasks", "start_step": 960, "end_step": 989, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it above the rear right pillar of the wooden rack."}, {"label": "subtasks", "start_step": 990, "end_step": 1049, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand mates the white hexagonal block with the rear right pillar of the wooden rack by inserting it downwards onto the pillar."}, {"label": "subtasks", "start_step": 1050, "end_step": 1079, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: place: Right hand places the white hexagonal block onto the target peg on the wooden base."}, {"label": "subtasks", "start_step": 1080, "end_step": 1139, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves downward towards the green cubic block on the table surface."}, {"label": "subtasks", "start_step": 1140, "end_step": 1154, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand closes its fingers to form a stable grasp on the green cubic block."}, {"label": "subtasks", "start_step": 1155, "end_step": 1169, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift: Right hand lifts the green cubic block completely off the table surface."}, {"label": "subtasks", "start_step": 1170, "end_step": 1191, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: transport: Right hand transports the green cubic block to the area above the wooden base."}, {"label": "subtasks", "start_step": 1192, "end_step": 1641, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand aligns the green cubic block with the top of the target peg on the wooden base and presses it down to assemble."}, {"label": "subtasks", "start_step": 1642, "end_step": 1724, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand makes slight finger adjustments to the position of the green cubic block on the peg."}, {"label": "subtasks", "start_step": 1725, "end_step": 1754, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand mates the white cylindrical block onto the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1755, "end_step": 1799, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves downwards towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1800, "end_step": 1844, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1845, "end_step": 1867, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the white hollow cylinder from the table and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1868, "end_step": 1949, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand aligns the white hollow cylinder with the purple rod on the wooden base and inserts it downwards to complete assembly."}, {"label": "subtasks", "start_step": 1950, "end_step": 1979, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: place: Right hand places the white cylindrical object onto the corresponding peg on the wooden base."}, {"label": "subtasks", "start_step": 1980, "end_step": 1994, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: release: Right hand releases the white cylindrical object after completing the placement."}, {"label": "subtasks", "start_step": 1995, "end_step": 2039, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves downward and rightward towards the white hexagonal object on the black tabletop."}, {"label": "subtasks", "start_step": 2040, "end_step": 2114, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand grasps and adjusts contact with the white hexagonal object on the black tabletop."}, {"label": "subtasks", "start_step": 2115, "end_step": 2144, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2145, "end_step": 2241, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 2242, "end_step": 2249, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: release_retreat: Right hand releases the white hexagonal block on the purple rod and moves away from the wooden base."}, {"label": "subtasks", "start_step": 2250, "end_step": 2324, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves towards the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 2325, "end_step": 2339, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the tabletop."}, {"label": "subtasks", "start_step": 2340, "end_step": 2361, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the tabletop and moves it towards the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 2362, "end_step": 2467, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: place: Right hand places the white hexagonal block onto the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 2468, "end_step": 2497, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: release: Right hand releases the white hexagonal block on the purple peg."}, {"label": "subtasks", "start_step": 2498, "end_step": 2541, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves towards the green square block on the dark table surface."}, {"label": "subtasks", "start_step": 2542, "end_step": 2579, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand grasps the green square block on the dark table surface."}, {"label": "subtasks", "start_step": 2580, "end_step": 2609, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the green cubic block off the table and transports it towards the white pillar on the wooden tray."}, {"label": "subtasks", "start_step": 2610, "end_step": 2691, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand aligns the green cubic block with the top of the target white pillar and fits the block onto the pillar."}, {"label": "subtasks", "start_step": 2692, "end_step": 2707, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: release: Right hand opens its fingers to release the green cubic block fitted on the white pillar."}, {"label": "subtasks", "start_step": 2708, "end_step": 2714, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: retreat: Right hand moves slightly away from the wooden tray after releasing the block."}], "episode_index": 19}
+{"source_uid": "40ed9f718a718274", "num_frames": 2369, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without movement or contact with any objects. | Right hand: idle: Right hand stays empty at the right initial home position without obvious movement."}, {"label": "goal", "start_step": 0, "end_step": 142, "id": "34092ae0-b3fc-47cc-9264-3300c83327a9"}, {"label": "valid", "start_step": 0, "end_step": 2334, "id": "g8GO3zgcrpfDlTD4nz4O8"}, {"label": "subtasks", "start_step": 30, "end_step": 81, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without movement or contact with any objects. | Right hand: reach: Right hand moves left and downward toward the green hexagonal block adjacent to the wooden peg base, with fingers open and no contact with the target block."}, {"label": "subtasks", "start_step": 82, "end_step": 157, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without movement or contact with any objects. | Right hand: grasp: Right hand closes fingers around the target green hexagonal block on the table, adjusting finger contact positions to establish a grip on the block."}, {"label": "goal", "start_step": 143, "end_step": 278, "id": "b17026de-6352-48e3-9103-a1c70c044eab"}, {"label": "subtasks", "start_step": 158, "end_step": 179, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without movement or contact with any objects. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block completely off the table surface and moves it upward to position directly above the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 180, "end_step": 269, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without movement or contact with any objects. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the target purple peg and lowers the block to insert it onto the peg, making small positional adjustments to maintain alignment during assembly."}, {"label": "subtasks", "start_step": 270, "end_step": 307, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without movement or contact with any objects. | Right hand: reach: Right hand moves downward from its initial position near the block assembly to approach the white hexagonal nut on the table, fingers slightly spread."}, {"label": "goal", "start_step": 279, "end_step": 328, "id": "fd821027-4a44-465a-b5e9-2893169f3f5b"}, {"label": "subtasks", "start_step": 308, "end_step": 337, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without movement or contact with any objects. | Right hand: grasp: Right hand closes its fingers around the white hexagonal nut, establishing a stable grip while the nut rests on the table surface."}, {"label": "goal", "start_step": 329, "end_step": 460, "id": "c7225587-501f-4c34-a9c4-657c2a7a9c61"}, {"label": "subtasks", "start_step": 338, "end_step": 367, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without movement or contact with any objects. | Right hand: lift_transport: Right hand lifts the white hexagonal nut completely off the table surface and transports it upward to the position above the unoccupied purple peg on the wooden base."}, {"label": "subtasks", "start_step": 368, "end_step": 389, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without movement or contact with any objects. | Right hand: mate: Right hand adjusts the position of the white hexagonal nut to align its central hole with the top of the empty purple peg."}, {"label": "subtasks", "start_step": 390, "end_step": 411, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without movement or contact with any objects. | Right hand: place: Right hand lowers the aligned white hexagonal nut along the purple peg until the nut rests stably on the green supporting block below."}, {"label": "subtasks", "start_step": 412, "end_step": 449, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without movement or contact with any objects. | Right hand: hold: Right hand holds the seated white hexagonal nut on the purple peg without observable movement or grip adjustment."}, {"label": "subtasks", "start_step": 450, "end_step": 501, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without movement or contact with any objects. | Right hand: reach: Right hand moves empty downward and forward from the area above the wooden assembly base toward the front white hexagonal nut on the table surface."}, {"label": "goal", "start_step": 461, "end_step": 532, "id": "c6133cd5-458e-48f3-b2cc-900bb4a5a736"}, {"label": "subtasks", "start_step": 502, "end_step": 547, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without movement or contact with any objects. | Right hand: grasp: Right hand closes fingers around the front white hexagonal nut on the table, adjusting finger contact positions to establish a grip."}, {"label": "goal", "start_step": 533, "end_step": 790, "id": "369045b3-fd63-4d5e-96d9-5d7c119794d3"}, {"label": "subtasks", "start_step": 548, "end_step": 577, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without movement or contact with any objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and transports it upward to the position directly above the purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 578, "end_step": 779, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without movement or contact with any objects. | Right hand: mate: Right hand adjusts the orientation and position of the white hexagonal nut to align its central hole with the purple rod on the wooden base, and moves it slightly downward to fit onto the rod."}, {"label": "subtasks", "start_step": 780, "end_step": 801, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without movement or contact with any objects. | Right hand: press: Right hand presses the top surface of the top white hexagonal nut on the rightmost peg of the wooden assembly base downward to secure the nut in place."}, {"label": "goal", "start_step": 791, "end_step": 886, "id": "1c7537fb-0940-4573-912f-0fc4bb2e76b9"}, {"label": "subtasks", "start_step": 802, "end_step": 831, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without movement or contact with any objects. | Right hand: reach: Right hand moves downward through the air toward the white hexagonal nut positioned in front of the wooden assembly base."}, {"label": "subtasks", "start_step": 832, "end_step": 884, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without movement or contact with any objects. | Right hand: grasp: Right hand makes contact with the target white hexagonal nut in front of the assembly base, closing fingers and adjusting hand position to form a stable grip on the nut."}, {"label": "subtasks", "start_step": 885, "end_step": 914, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without movement or contact with any objects. | Right hand: lift: Right hand lifts the grasped white hexagonal nut upward from the black table surface until the nut is completely separated from the table."}, {"label": "goal", "start_step": 887, "end_step": 1238, "id": "ca1c5803-d579-420a-9e8a-5fd1390aedab"}, {"label": "subtasks", "start_step": 915, "end_step": 951, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without movement or contact with any objects. | Right hand: transport: Right hand carries the white hexagonal nut toward the wooden assembly base, moving the nut to a position directly above the target purple vertical post."}, {"label": "subtasks", "start_step": 952, "end_step": 1229, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without movement or contact with any objects. | Right hand: mate: Right hand makes small positional and rotational adjustments to align the white hexagonal nut with the purple post, moving the nut downward to fit it onto the post."}, {"label": "subtasks", "start_step": 1230, "end_step": 1267, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without movement or contact with any objects. | Right hand: press: Right hand presses the top white hexagonal block on the purple peg of the wooden base downward until it is fully seated level with adjacent blocks."}, {"label": "goal", "start_step": 1239, "end_step": 1324, "id": "04ddb7d5-9804-482f-af2f-33eaeda13776"}, {"label": "subtasks", "start_step": 1268, "end_step": 1289, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without movement or contact with any objects. | Right hand: reach: Right hand moves downward from the wooden base toward the green hexagonal block placed on the table surface, approaching the target object."}, {"label": "subtasks", "start_step": 1290, "end_step": 1334, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without movement or contact with any objects. | Right hand: grasp: Right hand closes fingers around the target green hexagonal block on the table, adjusting finger contact positions to establish a secure grip."}, {"label": "goal", "start_step": 1325, "end_step": 1450, "id": "f16021f8-a4f9-4e43-bf11-a0d66d05ff12"}, {"label": "subtasks", "start_step": 1335, "end_step": 1364, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without movement or contact with any objects. | Right hand: lift_transport: Right hand lifts the green hexagonal block completely off the table surface and transports it upward to the position directly above the purple post on the wooden assembly base."}, {"label": "subtasks", "start_step": 1365, "end_step": 1424, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without movement or contact with any objects. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple post and lowers the block to fit onto the post."}, {"label": "subtasks", "start_step": 1425, "end_step": 1461, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without movement or contact with any objects. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple post without any visible movement of the hand or the block."}, {"label": "goal", "start_step": 1451, "end_step": 1522, "id": "6a7eaa24-06bb-4b22-94da-598082665a07"}, {"label": "subtasks", "start_step": 1462, "end_step": 1491, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without movement or contact with any objects. | Right hand: reach: Right hand moves downwards from the wooden peg base towards the green hexagonal block on the table surface, with fingers held open."}, {"label": "subtasks", "start_step": 1492, "end_step": 1537, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without movement or contact with any objects. | Right hand: grasp: Right hand makes contact with the green hexagonal block on the table and closes fingers to establish a grip on the block."}, {"label": "goal", "start_step": 1523, "end_step": 1642, "id": "0c136808-6cf4-471e-a44e-f61feccbe9c8"}, {"label": "subtasks", "start_step": 1538, "end_step": 1559, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without movement or contact with any objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the table and moves it upward to the position directly above the purple rod on the wooden assembly stand."}, {"label": "subtasks", "start_step": 1560, "end_step": 1597, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without movement or contact with any objects. | Right hand: mate: Right hand adjusts the position and orientation of the held white hexagonal nut to align its central hole with the top of the purple rod, fitting the rod tip into the nut hole."}, {"label": "subtasks", "start_step": 1598, "end_step": 1634, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without movement or contact with any objects. | Right hand: place_release: Right hand lowers the white hexagonal nut along the purple rod until the nut is fully seated and supported on the assembly stand, opening fingers to release the positioned nut."}, {"label": "subtasks", "start_step": 1635, "end_step": 1671, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without movement or contact with any objects. | Right hand: reach: Right hand moves downward with open fingers toward the white hexagonal nut placed beside the wooden block on the table surface."}, {"label": "goal", "start_step": 1643, "end_step": 1700, "id": "644a2a86-97d2-4e41-bdd4-177f35a82be3"}, {"label": "subtasks", "start_step": 1672, "end_step": 1709, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without movement or contact with any objects. | Right hand: grasp: Right hand closes its fingers around the white hexagonal nut on the table to form a stable grip, with the nut still resting on the table."}, {"label": "goal", "start_step": 1701, "end_step": 1826, "id": "2476869b-7bd6-4396-a8a6-b97c1e0c7326"}, {"label": "subtasks", "start_step": 1710, "end_step": 1754, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without movement or contact with any objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward to position directly above the purple rod on the wooden block."}, {"label": "subtasks", "start_step": 1755, "end_step": 1814, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without movement or contact with any objects. | Right hand: mate: Right hand aligns the held white hexagonal nut with the purple rod and lowers it to fit the nut onto the rod for assembly."}, {"label": "subtasks", "start_step": 1815, "end_step": 1829, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without movement or contact with any objects. | Right hand: release: Right hand opens its fingers to release the white hexagonal nut, separating the hand from the nut resting on the wooden block base."}, {"label": "goal", "start_step": 1827, "end_step": 1886, "id": "8938f1bb-ce15-4909-a904-39cbe8f3dbdf"}, {"label": "subtasks", "start_step": 1830, "end_step": 1851, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without movement or contact with any objects. | Right hand: reach: Right hand moves downward with an open posture toward the white hexagonal block placed on the table surface."}, {"label": "subtasks", "start_step": 1852, "end_step": 1897, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without movement or contact with any objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table to form a stable grip."}, {"label": "goal", "start_step": 1887, "end_step": 2064, "id": "f5c4417d-ee97-4781-ad13-d70ece90590e"}, {"label": "subtasks", "start_step": 1898, "end_step": 1941, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without movement or contact with any objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block completely off the table surface and moves it upward to the position directly above the purple cylinder on the wooden base."}, {"label": "subtasks", "start_step": 1942, "end_step": 2054, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without movement or contact with any objects. | Right hand: mate: Right hand adjusts the position of the white hexagonal block, aligns its central hole with the purple cylinder, and fits the block down onto the cylinder to complete the assembly."}, {"label": "subtasks", "start_step": 2055, "end_step": 2091, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without movement or contact with any objects. | Right hand: reach: Right hand moves empty downward toward the green hollow block placed on the dark table surface."}, {"label": "goal", "start_step": 2065, "end_step": 2130, "id": "a291ad2a-7c53-40e2-9eee-9a337437be8d"}, {"label": "subtasks", "start_step": 2092, "end_step": 2151, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without movement or contact with any objects. | Right hand: grasp: Right hand contacts the green hollow block, adjusts finger positions and closes fingers to form a grasp, with the block remaining on the table surface."}, {"label": "goal", "start_step": 2131, "end_step": 2278, "id": "12d0d9fa-f992-4237-ac8a-49b0cda2f607"}, {"label": "subtasks", "start_step": 2152, "end_step": 2181, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without movement or contact with any objects. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table surface and moves it to the position directly above the rightmost white cylinder on the wooden block rack."}, {"label": "subtasks", "start_step": 2182, "end_step": 2249, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without movement or contact with any objects. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the top of the rightmost white cylinder and lowers the block to fit snugly onto the cylinder."}, {"label": "subtasks", "start_step": 2250, "end_step": 2279, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without movement or contact with any objects. | Right hand: release: Right hand opens its fingers to release the fitted green hexagonal block, loosening grip on the block."}, {"label": "home", "start_step": 2335, "end_step": 2368, "id": "GSaYZtIObmvoDthYthRxZ"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without movement or contact with any objects. | Right hand: idle: Right hand stays empty at the right initial home position without obvious movement."}, {"label": "subtasks", "start_step": 30, "end_step": 81, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without movement or contact with any objects. | Right hand: reach: Right hand moves left and downward toward the green hexagonal block adjacent to the wooden peg base, with fingers open and no contact with the target block."}, {"label": "subtasks", "start_step": 82, "end_step": 157, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without movement or contact with any objects. | Right hand: grasp: Right hand closes fingers around the target green hexagonal block on the table, adjusting finger contact positions to establish a grip on the block."}, {"label": "subtasks", "start_step": 158, "end_step": 179, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without movement or contact with any objects. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block completely off the table surface and moves it upward to position directly above the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 180, "end_step": 269, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without movement or contact with any objects. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the target purple peg and lowers the block to insert it onto the peg, making small positional adjustments to maintain alignment during assembly."}, {"label": "subtasks", "start_step": 270, "end_step": 307, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without movement or contact with any objects. | Right hand: reach: Right hand moves downward from its initial position near the block assembly to approach the white hexagonal nut on the table, fingers slightly spread."}, {"label": "subtasks", "start_step": 308, "end_step": 337, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without movement or contact with any objects. | Right hand: grasp: Right hand closes its fingers around the white hexagonal nut, establishing a stable grip while the nut rests on the table surface."}, {"label": "subtasks", "start_step": 338, "end_step": 367, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without movement or contact with any objects. | Right hand: lift_transport: Right hand lifts the white hexagonal nut completely off the table surface and transports it upward to the position above the unoccupied purple peg on the wooden base."}, {"label": "subtasks", "start_step": 368, "end_step": 389, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without movement or contact with any objects. | Right hand: mate: Right hand adjusts the position of the white hexagonal nut to align its central hole with the top of the empty purple peg."}, {"label": "subtasks", "start_step": 390, "end_step": 411, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without movement or contact with any objects. | Right hand: place: Right hand lowers the aligned white hexagonal nut along the purple peg until the nut rests stably on the green supporting block below."}, {"label": "subtasks", "start_step": 412, "end_step": 449, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without movement or contact with any objects. | Right hand: hold: Right hand holds the seated white hexagonal nut on the purple peg without observable movement or grip adjustment."}, {"label": "subtasks", "start_step": 450, "end_step": 501, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without movement or contact with any objects. | Right hand: reach: Right hand moves empty downward and forward from the area above the wooden assembly base toward the front white hexagonal nut on the table surface."}, {"label": "subtasks", "start_step": 502, "end_step": 547, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without movement or contact with any objects. | Right hand: grasp: Right hand closes fingers around the front white hexagonal nut on the table, adjusting finger contact positions to establish a grip."}, {"label": "subtasks", "start_step": 548, "end_step": 577, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without movement or contact with any objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and transports it upward to the position directly above the purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 578, "end_step": 779, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without movement or contact with any objects. | Right hand: mate: Right hand adjusts the orientation and position of the white hexagonal nut to align its central hole with the purple rod on the wooden base, and moves it slightly downward to fit onto the rod."}, {"label": "subtasks", "start_step": 780, "end_step": 801, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without movement or contact with any objects. | Right hand: press: Right hand presses the top surface of the top white hexagonal nut on the rightmost peg of the wooden assembly base downward to secure the nut in place."}, {"label": "subtasks", "start_step": 802, "end_step": 831, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without movement or contact with any objects. | Right hand: reach: Right hand moves downward through the air toward the white hexagonal nut positioned in front of the wooden assembly base."}, {"label": "subtasks", "start_step": 832, "end_step": 884, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without movement or contact with any objects. | Right hand: grasp: Right hand makes contact with the target white hexagonal nut in front of the assembly base, closing fingers and adjusting hand position to form a stable grip on the nut."}, {"label": "subtasks", "start_step": 885, "end_step": 914, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without movement or contact with any objects. | Right hand: lift: Right hand lifts the grasped white hexagonal nut upward from the black table surface until the nut is completely separated from the table."}, {"label": "subtasks", "start_step": 915, "end_step": 951, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without movement or contact with any objects. | Right hand: transport: Right hand carries the white hexagonal nut toward the wooden assembly base, moving the nut to a position directly above the target purple vertical post."}, {"label": "subtasks", "start_step": 952, "end_step": 1229, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without movement or contact with any objects. | Right hand: mate: Right hand makes small positional and rotational adjustments to align the white hexagonal nut with the purple post, moving the nut downward to fit it onto the post."}, {"label": "subtasks", "start_step": 1230, "end_step": 1267, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without movement or contact with any objects. | Right hand: press: Right hand presses the top white hexagonal block on the purple peg of the wooden base downward until it is fully seated level with adjacent blocks."}, {"label": "subtasks", "start_step": 1268, "end_step": 1289, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without movement or contact with any objects. | Right hand: reach: Right hand moves downward from the wooden base toward the green hexagonal block placed on the table surface, approaching the target object."}, {"label": "subtasks", "start_step": 1290, "end_step": 1334, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without movement or contact with any objects. | Right hand: grasp: Right hand closes fingers around the target green hexagonal block on the table, adjusting finger contact positions to establish a secure grip."}, {"label": "subtasks", "start_step": 1335, "end_step": 1364, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without movement or contact with any objects. | Right hand: lift_transport: Right hand lifts the green hexagonal block completely off the table surface and transports it upward to the position directly above the purple post on the wooden assembly base."}, {"label": "subtasks", "start_step": 1365, "end_step": 1424, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without movement or contact with any objects. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple post and lowers the block to fit onto the post."}, {"label": "subtasks", "start_step": 1425, "end_step": 1461, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without movement or contact with any objects. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple post without any visible movement of the hand or the block."}, {"label": "subtasks", "start_step": 1462, "end_step": 1491, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without movement or contact with any objects. | Right hand: reach: Right hand moves downwards from the wooden peg base towards the green hexagonal block on the table surface, with fingers held open."}, {"label": "subtasks", "start_step": 1492, "end_step": 1537, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without movement or contact with any objects. | Right hand: grasp: Right hand makes contact with the green hexagonal block on the table and closes fingers to establish a grip on the block."}, {"label": "subtasks", "start_step": 1538, "end_step": 1559, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without movement or contact with any objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the table and moves it upward to the position directly above the purple rod on the wooden assembly stand."}, {"label": "subtasks", "start_step": 1560, "end_step": 1597, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without movement or contact with any objects. | Right hand: mate: Right hand adjusts the position and orientation of the held white hexagonal nut to align its central hole with the top of the purple rod, fitting the rod tip into the nut hole."}, {"label": "subtasks", "start_step": 1598, "end_step": 1634, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without movement or contact with any objects. | Right hand: place_release: Right hand lowers the white hexagonal nut along the purple rod until the nut is fully seated and supported on the assembly stand, opening fingers to release the positioned nut."}, {"label": "subtasks", "start_step": 1635, "end_step": 1671, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without movement or contact with any objects. | Right hand: reach: Right hand moves downward with open fingers toward the white hexagonal nut placed beside the wooden block on the table surface."}, {"label": "subtasks", "start_step": 1672, "end_step": 1709, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without movement or contact with any objects. | Right hand: grasp: Right hand closes its fingers around the white hexagonal nut on the table to form a stable grip, with the nut still resting on the table."}, {"label": "subtasks", "start_step": 1710, "end_step": 1754, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without movement or contact with any objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward to position directly above the purple rod on the wooden block."}, {"label": "subtasks", "start_step": 1755, "end_step": 1814, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without movement or contact with any objects. | Right hand: mate: Right hand aligns the held white hexagonal nut with the purple rod and lowers it to fit the nut onto the rod for assembly."}, {"label": "subtasks", "start_step": 1815, "end_step": 1829, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without movement or contact with any objects. | Right hand: release: Right hand opens its fingers to release the white hexagonal nut, separating the hand from the nut resting on the wooden block base."}, {"label": "subtasks", "start_step": 1830, "end_step": 1851, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without movement or contact with any objects. | Right hand: reach: Right hand moves downward with an open posture toward the white hexagonal block placed on the table surface."}, {"label": "subtasks", "start_step": 1852, "end_step": 1897, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without movement or contact with any objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table to form a stable grip."}, {"label": "subtasks", "start_step": 1898, "end_step": 1941, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without movement or contact with any objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block completely off the table surface and moves it upward to the position directly above the purple cylinder on the wooden base."}, {"label": "subtasks", "start_step": 1942, "end_step": 2054, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without movement or contact with any objects. | Right hand: mate: Right hand adjusts the position of the white hexagonal block, aligns its central hole with the purple cylinder, and fits the block down onto the cylinder to complete the assembly."}, {"label": "subtasks", "start_step": 2055, "end_step": 2091, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without movement or contact with any objects. | Right hand: reach: Right hand moves empty downward toward the green hollow block placed on the dark table surface."}, {"label": "subtasks", "start_step": 2092, "end_step": 2151, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without movement or contact with any objects. | Right hand: grasp: Right hand contacts the green hollow block, adjusts finger positions and closes fingers to form a grasp, with the block remaining on the table surface."}, {"label": "subtasks", "start_step": 2152, "end_step": 2181, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without movement or contact with any objects. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table surface and moves it to the position directly above the rightmost white cylinder on the wooden block rack."}, {"label": "subtasks", "start_step": 2182, "end_step": 2249, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without movement or contact with any objects. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the top of the rightmost white cylinder and lowers the block to fit snugly onto the cylinder."}, {"label": "subtasks", "start_step": 2250, "end_step": 2279, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without movement or contact with any objects. | Right hand: release: Right hand opens its fingers to release the fitted green hexagonal block, loosening grip on the block."}], "episode_index": 20}
+{"source_uid": "3cbada825a7a66fc", "num_frames": 2566, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 21, "id": "reasoning-language-00001", "text": "Left hand: other:extend_fingers: Left hand slightly extends its fingers while keeping its wrist stationary at the left side of the table. | Right hand: reach: Right hand moves leftward and downward from the right side of the table toward the green hexagonal block in front of the wooden base."}, {"label": "goal", "start_step": 0, "end_step": 130, "id": "a94a8b82-229a-4cd6-9b6c-8eae4c645d67"}, {"label": "valid", "start_step": 0, "end_step": 2530, "id": "6zByE3_yMVnxb2FXvtjSe"}, {"label": "subtasks", "start_step": 22, "end_step": 89, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: reach: Right hand moves leftward and downward from the right side of the table toward the green hexagonal block in front of the wooden base."}, {"label": "subtasks", "start_step": 90, "end_step": 149, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: grasp: Right hand closes its fingers around the green hexagonal block on the table, adjusting to form a stable grasp."}, {"label": "goal", "start_step": 131, "end_step": 258, "id": "1de04336-f810-4dd9-803f-eb9a552cd606"}, {"label": "subtasks", "start_step": 150, "end_step": 179, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the tabletop and transports it above the leftmost purple peg of the wooden rack."}, {"label": "subtasks", "start_step": 180, "end_step": 217, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: mate: Right hand mates the green hexagonal block onto the leftmost purple peg of the wooden rack."}, {"label": "subtasks", "start_step": 218, "end_step": 254, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: hold: Right hand holds the green hexagonal block on the leftmost purple peg without moving."}, {"label": "subtasks", "start_step": 255, "end_step": 277, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: mate: Right hand mates the white cylindrical sleeve onto the purple peg of the wooden pegboard."}, {"label": "goal", "start_step": 259, "end_step": 336, "id": "8f1de58c-98ac-4c3c-bd58-bba272412be7"}, {"label": "subtasks", "start_step": 278, "end_step": 299, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: reach: Right hand reaches toward the white hexagonal piece on the black table surface, moving downward."}, {"label": "subtasks", "start_step": 300, "end_step": 411, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: grasp: Right hand grasps the white hexagonal piece on the black table surface, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 337, "end_step": 538, "id": "5485570d-b47c-4525-bf3a-a2e9b059e25c"}, {"label": "subtasks", "start_step": 412, "end_step": 441, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the black table and moves it toward the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 442, "end_step": 524, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: mate: Right hand aligns the white hexagonal nut with the leftmost purple peg and inserts it onto the peg."}, {"label": "subtasks", "start_step": 525, "end_step": 547, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: mate_release: Right hand mates the white cylindrical part onto the leftmost purple post of the wooden base and releases the part."}, {"label": "goal", "start_step": 539, "end_step": 620, "id": "a9003073-aebf-4d3d-b268-bfd4f7453da9"}, {"label": "subtasks", "start_step": 548, "end_step": 584, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: reach: Right hand moves downward toward the white hexagonal part on the black table surface."}, {"label": "subtasks", "start_step": 585, "end_step": 644, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: grasp: Right hand grasps the white hexagonal part on the black table surface with fingers closing around it."}, {"label": "goal", "start_step": 621, "end_step": 768, "id": "f6970e7d-9dc1-4ae4-acc2-31260e9b48b7"}, {"label": "subtasks", "start_step": 645, "end_step": 667, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal object off the table and transports it toward the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 668, "end_step": 697, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: mate: Right hand aligns the hole of the white hexagonal object with the leftmost purple peg and inserts the object onto the peg."}, {"label": "subtasks", "start_step": 698, "end_step": 741, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: place: Right hand lowers the white hexagonal object along the leftmost purple peg until it rests on the green component below and is supported."}, {"label": "subtasks", "start_step": 742, "end_step": 764, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: release_retreat: Right hand opens fingers to release the white hexagonal object on the leftmost purple peg and moves slightly upward away from the peg."}, {"label": "subtasks", "start_step": 765, "end_step": 779, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: release: Right hand releases the white cylindrical block on the purple peg of the wooden base, with fingers opening and separating from the block."}, {"label": "goal", "start_step": 769, "end_step": 846, "id": "11fb4ae7-a24d-433d-a3d9-35f7bf437281"}, {"label": "subtasks", "start_step": 780, "end_step": 801, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: reach: Right hand moves downward and rightward to approach the white hexagonal block on the table near the wooden base."}, {"label": "subtasks", "start_step": 802, "end_step": 817, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing around the block to form a grip."}, {"label": "subtasks", "start_step": 818, "end_step": 839, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: hold: Right hand holds the white hexagonal block on the table surface without moving."}, {"label": "subtasks", "start_step": 840, "end_step": 861, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: grasp: Right hand grasps the white hexagonal object on the table near the wooden peg rack, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 847, "end_step": 966, "id": "8714e425-fc2a-4f26-9710-19f52ba44752"}, {"label": "subtasks", "start_step": 862, "end_step": 884, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal object from the table and transports it upward to the top of the middle purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 885, "end_step": 937, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: mate: Right hand mates the white hexagonal object onto the middle purple peg by aligning its hole with the peg and lowering it down."}, {"label": "subtasks", "start_step": 938, "end_step": 951, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: release: Right hand releases the white hexagonal object by opening its fingers."}, {"label": "subtasks", "start_step": 952, "end_step": 959, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: idle: Right hand remains empty above the wooden peg rack without moving."}, {"label": "subtasks", "start_step": 960, "end_step": 989, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: mate_release: Right hand mates the white perforated block onto the purple peg of the wooden base and releases the block."}, {"label": "goal", "start_step": 967, "end_step": 1054, "id": "2da3d560-6ac6-494d-91bb-143c61239702"}, {"label": "subtasks", "start_step": 990, "end_step": 1011, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1012, "end_step": 1071, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 1055, "end_step": 1452, "id": "1611146e-4d7a-4294-9d89-3835b76f5821"}, {"label": "subtasks", "start_step": 1072, "end_step": 1094, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table surface and transports it to the position above the right purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1095, "end_step": 1439, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: mate: Right hand aligns the green hexagonal block with the right white hexagonal post along the purple guide rod and makes repeated vertical position adjustments during the assembly process."}, {"label": "subtasks", "start_step": 1440, "end_step": 1469, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: mate_release: Right hand fits the white cylindrical piece onto the green peg on the wooden base and releases its grip."}, {"label": "goal", "start_step": 1453, "end_step": 1530, "id": "5da708ec-b9a8-48fa-8754-61bf33c2fb71"}, {"label": "subtasks", "start_step": 1470, "end_step": 1499, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: reach: Right hand reaches downward toward the white hexagonal piece on the dark table surface."}, {"label": "subtasks", "start_step": 1500, "end_step": 1551, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: grasp: Right hand grasps the white hexagonal piece on the dark table surface, with fingers closing and adjusting around the piece."}, {"label": "goal", "start_step": 1531, "end_step": 1658, "id": "187f2e2d-3172-4548-8d25-e905d30acdf4"}, {"label": "subtasks", "start_step": 1552, "end_step": 1567, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal part from the table surface and transports it towards the wooden peg rack."}, {"label": "subtasks", "start_step": 1568, "end_step": 1649, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: mate: Right hand aligns the white hexagonal part with the peg on the wooden rack and inserts it to complete the fitting."}, {"label": "subtasks", "start_step": 1650, "end_step": 1679, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: release: Right hand releases the white cylindrical block on the wooden peg board, fingers gradually open and separate from the block."}, {"label": "goal", "start_step": 1659, "end_step": 1738, "id": "bbc4ace5-dcc2-41d0-82f8-67e032750422"}, {"label": "subtasks", "start_step": 1680, "end_step": 1694, "id": "reasoning-language-00039", "text": "Left hand: other:hand_pose_adjust: Left hand adjusts its pose by extending fingers upward and slightly rotating the wrist, keeping wrist position unchanged. | Right hand: reach: Right hand moves downward and rightward toward the white hexagonal block on the table, empty-handed."}, {"label": "subtasks", "start_step": 1695, "end_step": 1709, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the frame with extended upward fingers, without moving. | Right hand: reach: Right hand moves downward and rightward toward the white hexagonal block on the table, empty-handed."}, {"label": "subtasks", "start_step": 1710, "end_step": 1747, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the frame with extended upward fingers, without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, fingers close around the block."}, {"label": "goal", "start_step": 1739, "end_step": 1928, "id": "d2017890-b82b-4fc5-bcc9-13099793cbab"}, {"label": "subtasks", "start_step": 1748, "end_step": 1777, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the frame with extended upward fingers, without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it to the position above the purple vertical rod."}, {"label": "subtasks", "start_step": 1778, "end_step": 1874, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the frame with extended upward fingers, without moving. | Right hand: mate_place: Right hand mates the white hexagonal block with the purple vertical rod and places it on the supporting white cylinder."}, {"label": "subtasks", "start_step": 1875, "end_step": 1904, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the frame with extended upward fingers, without moving. | Right hand: release: Right hand releases the white hexagonal block with fingers opening and separating from the block."}, {"label": "subtasks", "start_step": 1905, "end_step": 1919, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the frame with extended upward fingers, without moving. | Right hand: retreat: Right hand retreats upward away from the white hexagonal block."}, {"label": "subtasks", "start_step": 1920, "end_step": 1949, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the frame with extended upward fingers, without moving. | Right hand: release: Right hand releases the white cylindrical block on the top-right of the wooden peg rack, with fingers opening and separating from the block."}, {"label": "goal", "start_step": 1929, "end_step": 2002, "id": "9f7db668-f76c-4814-8cfe-cf999502af48"}, {"label": "subtasks", "start_step": 1950, "end_step": 1971, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the frame with extended upward fingers, without moving. | Right hand: reach: Right hand reaches toward the white hexagonal block on the table surface below the wooden rack."}, {"label": "subtasks", "start_step": 1972, "end_step": 2024, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the frame with extended upward fingers, without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table surface, with fingers closing and adjusting to form a stable grip."}, {"label": "goal", "start_step": 2003, "end_step": 2122, "id": "183cff98-3925-497e-a42a-4fc0d8e480cd"}, {"label": "subtasks", "start_step": 2025, "end_step": 2047, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the frame with extended upward fingers, without moving. | Right hand: lift_transport: Right hand lifts the white perforated hexagonal block off the table and transports it toward the purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 2048, "end_step": 2114, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the frame with extended upward fingers, without moving. | Right hand: mate: Right hand aligns the white perforated hexagonal block with the purple peg on the wooden rack and fits it onto the peg to complete the assembly."}, {"label": "subtasks", "start_step": 2115, "end_step": 2144, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the frame with extended upward fingers, without moving. | Right hand: mate_release: Right hand fits the white cylinder with purple top into the wooden rack and releases it."}, {"label": "goal", "start_step": 2123, "end_step": 2208, "id": "65b0839c-3044-4b1b-be23-ad8f5bfa63ec"}, {"label": "subtasks", "start_step": 2145, "end_step": 2167, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the frame with extended upward fingers, without moving. | Right hand: reach: Right hand moves downward toward the green cube on the dark table surface."}, {"label": "subtasks", "start_step": 2168, "end_step": 2227, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the frame with extended upward fingers, without moving. | Right hand: grasp: Right hand grasps the green cube on the dark table surface with fingers closing around it."}, {"label": "goal", "start_step": 2209, "end_step": 2494, "id": "cee19fac-d204-4696-bedd-58415ce0fa3b"}, {"label": "subtasks", "start_step": 2228, "end_step": 2249, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the frame with extended upward fingers, without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it toward the bottle rack in the middle of the table."}, {"label": "subtasks", "start_step": 2250, "end_step": 2309, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the frame with extended upward fingers, without moving. | Right hand: mate: Right hand aligns the green block with the target white bottle on the rack and fits it onto the bottle."}, {"label": "subtasks", "start_step": 2310, "end_step": 2467, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the frame with extended upward fingers, without moving. | Right hand: other:adjust_assembly: Right hand makes small positional adjustments to the green block on the bottle to ensure proper fitting."}, {"label": "subtasks", "start_step": 2468, "end_step": 2489, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the frame with extended upward fingers, without moving. | Right hand: release: Right hand releases the green block, with fingers opening and separating from the block."}, {"label": "subtasks", "start_step": 2490, "end_step": 2504, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the frame with extended upward fingers, without moving. | Right hand: retreat: Right hand moves slightly away from the green block after releasing it."}, {"label": "home", "start_step": 2531, "end_step": 2565, "id": "hlJ5sShI0HYGshNp1n50i"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 21, "id": "reasoning-language-00001", "text": "Left hand: other:extend_fingers: Left hand slightly extends its fingers while keeping its wrist stationary at the left side of the table. | Right hand: reach: Right hand moves leftward and downward from the right side of the table toward the green hexagonal block in front of the wooden base."}, {"label": "subtasks", "start_step": 22, "end_step": 89, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: reach: Right hand moves leftward and downward from the right side of the table toward the green hexagonal block in front of the wooden base."}, {"label": "subtasks", "start_step": 90, "end_step": 149, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: grasp: Right hand closes its fingers around the green hexagonal block on the table, adjusting to form a stable grasp."}, {"label": "subtasks", "start_step": 150, "end_step": 179, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the tabletop and transports it above the leftmost purple peg of the wooden rack."}, {"label": "subtasks", "start_step": 180, "end_step": 217, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: mate: Right hand mates the green hexagonal block onto the leftmost purple peg of the wooden rack."}, {"label": "subtasks", "start_step": 218, "end_step": 254, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: hold: Right hand holds the green hexagonal block on the leftmost purple peg without moving."}, {"label": "subtasks", "start_step": 255, "end_step": 277, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: mate: Right hand mates the white cylindrical sleeve onto the purple peg of the wooden pegboard."}, {"label": "subtasks", "start_step": 278, "end_step": 299, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: reach: Right hand reaches toward the white hexagonal piece on the black table surface, moving downward."}, {"label": "subtasks", "start_step": 300, "end_step": 411, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: grasp: Right hand grasps the white hexagonal piece on the black table surface, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 412, "end_step": 441, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the black table and moves it toward the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 442, "end_step": 524, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: mate: Right hand aligns the white hexagonal nut with the leftmost purple peg and inserts it onto the peg."}, {"label": "subtasks", "start_step": 525, "end_step": 547, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: mate_release: Right hand mates the white cylindrical part onto the leftmost purple post of the wooden base and releases the part."}, {"label": "subtasks", "start_step": 548, "end_step": 584, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: reach: Right hand moves downward toward the white hexagonal part on the black table surface."}, {"label": "subtasks", "start_step": 585, "end_step": 644, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: grasp: Right hand grasps the white hexagonal part on the black table surface with fingers closing around it."}, {"label": "subtasks", "start_step": 645, "end_step": 667, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal object off the table and transports it toward the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 668, "end_step": 697, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: mate: Right hand aligns the hole of the white hexagonal object with the leftmost purple peg and inserts the object onto the peg."}, {"label": "subtasks", "start_step": 698, "end_step": 741, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: place: Right hand lowers the white hexagonal object along the leftmost purple peg until it rests on the green component below and is supported."}, {"label": "subtasks", "start_step": 742, "end_step": 764, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: release_retreat: Right hand opens fingers to release the white hexagonal object on the leftmost purple peg and moves slightly upward away from the peg."}, {"label": "subtasks", "start_step": 765, "end_step": 779, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: release: Right hand releases the white cylindrical block on the purple peg of the wooden base, with fingers opening and separating from the block."}, {"label": "subtasks", "start_step": 780, "end_step": 801, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: reach: Right hand moves downward and rightward to approach the white hexagonal block on the table near the wooden base."}, {"label": "subtasks", "start_step": 802, "end_step": 817, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing around the block to form a grip."}, {"label": "subtasks", "start_step": 818, "end_step": 839, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: hold: Right hand holds the white hexagonal block on the table surface without moving."}, {"label": "subtasks", "start_step": 840, "end_step": 861, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: grasp: Right hand grasps the white hexagonal object on the table near the wooden peg rack, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 862, "end_step": 884, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal object from the table and transports it upward to the top of the middle purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 885, "end_step": 937, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: mate: Right hand mates the white hexagonal object onto the middle purple peg by aligning its hole with the peg and lowering it down."}, {"label": "subtasks", "start_step": 938, "end_step": 951, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: release: Right hand releases the white hexagonal object by opening its fingers."}, {"label": "subtasks", "start_step": 952, "end_step": 959, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: idle: Right hand remains empty above the wooden peg rack without moving."}, {"label": "subtasks", "start_step": 960, "end_step": 989, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: mate_release: Right hand mates the white perforated block onto the purple peg of the wooden base and releases the block."}, {"label": "subtasks", "start_step": 990, "end_step": 1011, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1012, "end_step": 1071, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1072, "end_step": 1094, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table surface and transports it to the position above the right purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1095, "end_step": 1439, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: mate: Right hand aligns the green hexagonal block with the right white hexagonal post along the purple guide rod and makes repeated vertical position adjustments during the assembly process."}, {"label": "subtasks", "start_step": 1440, "end_step": 1469, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: mate_release: Right hand fits the white cylindrical piece onto the green peg on the wooden base and releases its grip."}, {"label": "subtasks", "start_step": 1470, "end_step": 1499, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: reach: Right hand reaches downward toward the white hexagonal piece on the dark table surface."}, {"label": "subtasks", "start_step": 1500, "end_step": 1551, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: grasp: Right hand grasps the white hexagonal piece on the dark table surface, with fingers closing and adjusting around the piece."}, {"label": "subtasks", "start_step": 1552, "end_step": 1567, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal part from the table surface and transports it towards the wooden peg rack."}, {"label": "subtasks", "start_step": 1568, "end_step": 1649, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: mate: Right hand aligns the white hexagonal part with the peg on the wooden rack and inserts it to complete the fitting."}, {"label": "subtasks", "start_step": 1650, "end_step": 1679, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: release: Right hand releases the white cylindrical block on the wooden peg board, fingers gradually open and separate from the block."}, {"label": "subtasks", "start_step": 1680, "end_step": 1694, "id": "reasoning-language-00039", "text": "Left hand: other:hand_pose_adjust: Left hand adjusts its pose by extending fingers upward and slightly rotating the wrist, keeping wrist position unchanged. | Right hand: reach: Right hand moves downward and rightward toward the white hexagonal block on the table, empty-handed."}, {"label": "subtasks", "start_step": 1695, "end_step": 1709, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the frame with extended upward fingers, without moving. | Right hand: reach: Right hand moves downward and rightward toward the white hexagonal block on the table, empty-handed."}, {"label": "subtasks", "start_step": 1710, "end_step": 1747, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the frame with extended upward fingers, without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, fingers close around the block."}, {"label": "subtasks", "start_step": 1748, "end_step": 1777, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the frame with extended upward fingers, without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it to the position above the purple vertical rod."}, {"label": "subtasks", "start_step": 1778, "end_step": 1874, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the frame with extended upward fingers, without moving. | Right hand: mate_place: Right hand mates the white hexagonal block with the purple vertical rod and places it on the supporting white cylinder."}, {"label": "subtasks", "start_step": 1875, "end_step": 1904, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the frame with extended upward fingers, without moving. | Right hand: release: Right hand releases the white hexagonal block with fingers opening and separating from the block."}, {"label": "subtasks", "start_step": 1905, "end_step": 1919, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the frame with extended upward fingers, without moving. | Right hand: retreat: Right hand retreats upward away from the white hexagonal block."}, {"label": "subtasks", "start_step": 1920, "end_step": 1949, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the frame with extended upward fingers, without moving. | Right hand: release: Right hand releases the white cylindrical block on the top-right of the wooden peg rack, with fingers opening and separating from the block."}, {"label": "subtasks", "start_step": 1950, "end_step": 1971, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the frame with extended upward fingers, without moving. | Right hand: reach: Right hand reaches toward the white hexagonal block on the table surface below the wooden rack."}, {"label": "subtasks", "start_step": 1972, "end_step": 2024, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the frame with extended upward fingers, without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table surface, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2025, "end_step": 2047, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the frame with extended upward fingers, without moving. | Right hand: lift_transport: Right hand lifts the white perforated hexagonal block off the table and transports it toward the purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 2048, "end_step": 2114, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the frame with extended upward fingers, without moving. | Right hand: mate: Right hand aligns the white perforated hexagonal block with the purple peg on the wooden rack and fits it onto the peg to complete the assembly."}, {"label": "subtasks", "start_step": 2115, "end_step": 2144, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the frame with extended upward fingers, without moving. | Right hand: mate_release: Right hand fits the white cylinder with purple top into the wooden rack and releases it."}, {"label": "subtasks", "start_step": 2145, "end_step": 2167, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the frame with extended upward fingers, without moving. | Right hand: reach: Right hand moves downward toward the green cube on the dark table surface."}, {"label": "subtasks", "start_step": 2168, "end_step": 2227, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the frame with extended upward fingers, without moving. | Right hand: grasp: Right hand grasps the green cube on the dark table surface with fingers closing around it."}, {"label": "subtasks", "start_step": 2228, "end_step": 2249, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the frame with extended upward fingers, without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it toward the bottle rack in the middle of the table."}, {"label": "subtasks", "start_step": 2250, "end_step": 2309, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the frame with extended upward fingers, without moving. | Right hand: mate: Right hand aligns the green block with the target white bottle on the rack and fits it onto the bottle."}, {"label": "subtasks", "start_step": 2310, "end_step": 2467, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the frame with extended upward fingers, without moving. | Right hand: other:adjust_assembly: Right hand makes small positional adjustments to the green block on the bottle to ensure proper fitting."}, {"label": "subtasks", "start_step": 2468, "end_step": 2489, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the frame with extended upward fingers, without moving. | Right hand: release: Right hand releases the green block, with fingers opening and separating from the block."}, {"label": "subtasks", "start_step": 2490, "end_step": 2504, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the frame with extended upward fingers, without moving. | Right hand: retreat: Right hand moves slightly away from the green block after releasing it."}], "episode_index": 21}
+{"source_uid": "cef395493526b7b5", "num_frames": 3494, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 81, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves toward the green hexagonal object placed on the black table."}, {"label": "goal", "start_step": 0, "end_step": 176, "id": "6651beef-6e81-4ab4-bdec-813c90a90a99"}, {"label": "valid", "start_step": 0, "end_step": 3459, "id": "RPW4EyqI1KQnjxWSRHQEl"}, {"label": "subtasks", "start_step": 82, "end_step": 194, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand contacts and adjusts fingers to grasp the green hexagonal object on the table."}, {"label": "goal", "start_step": 177, "end_step": 290, "id": "aece149b-6571-47c3-ba0b-74f602c78618"}, {"label": "subtasks", "start_step": 195, "end_step": 217, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it to the position above the leftmost purple post of the test tube rack."}, {"label": "subtasks", "start_step": 218, "end_step": 284, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand mates the green block with the leftmost purple post of the test tube rack, pushing it down to complete the assembly."}, {"label": "subtasks", "start_step": 285, "end_step": 314, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: place_release: Right hand places the white cylindrical block onto the pillar of the wooden base and releases its grip on the block."}, {"label": "goal", "start_step": 291, "end_step": 362, "id": "4b21faef-93bf-47a2-8b65-bf7e20908faf"}, {"label": "subtasks", "start_step": 315, "end_step": 351, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves downwards towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 352, "end_step": 389, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the black table surface."}, {"label": "goal", "start_step": 363, "end_step": 530, "id": "503e5105-9df7-4574-ae3d-116af760297a"}, {"label": "subtasks", "start_step": 390, "end_step": 411, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it to the position above the leftmost purple rod on the green base."}, {"label": "subtasks", "start_step": 412, "end_step": 524, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand mates the white hexagonal block onto the leftmost purple rod of the green base, adjusting position to fit the rod into the block's hole."}, {"label": "subtasks", "start_step": 525, "end_step": 554, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: release: Right hand releases the white hexagonal block on the purple peg of the wooden base."}, {"label": "goal", "start_step": 531, "end_step": 636, "id": "7c8a27f7-f639-43ab-8c3b-80d986d41a71"}, {"label": "subtasks", "start_step": 555, "end_step": 577, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves down towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 578, "end_step": 659, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 637, "end_step": 776, "id": "e164d9b4-2431-4466-8aa7-3157aea503ee"}, {"label": "subtasks", "start_step": 660, "end_step": 689, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it to the upper position of the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 690, "end_step": 801, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand aligns the white hexagonal block with the front-left purple rod and inserts it onto the rod."}, {"label": "goal", "start_step": 777, "end_step": 854, "id": "17c523b3-3707-4c3a-a53b-53894f94185d"}, {"label": "subtasks", "start_step": 802, "end_step": 824, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves downward to reach the white hex block on the black table."}, {"label": "subtasks", "start_step": 825, "end_step": 854, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand closes fingers to grasp the white hex block on the black table."}, {"label": "subtasks", "start_step": 855, "end_step": 869, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift: Right hand lifts the white hexagonal block from the black table surface."}, {"label": "goal", "start_step": 855, "end_step": 1004, "id": "6c673e55-7aba-4fae-864e-030d6fc27084"}, {"label": "subtasks", "start_step": 870, "end_step": 884, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: transport: Right hand transports the white hexagonal block to the position above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 885, "end_step": 944, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and fits the block onto the rod."}, {"label": "subtasks", "start_step": 945, "end_step": 1004, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: press: Right hand presses the white hexagonal block down along the purple rod to fix it in place."}, {"label": "subtasks", "start_step": 1005, "end_step": 1027, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand mates the white ring onto the purple rod on the wooden base."}, {"label": "goal", "start_step": 1005, "end_step": 1082, "id": "ece8fbe3-f7ce-478d-ac26-748c7f54f744"}, {"label": "subtasks", "start_step": 1028, "end_step": 1064, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves downward toward the green hollow block placed on the black table."}, {"label": "subtasks", "start_step": 1065, "end_step": 1079, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand closes fingers to grasp the green hollow block on the black table."}, {"label": "subtasks", "start_step": 1080, "end_step": 1101, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift: Right hand lifts the green hexagonal block from the black table surface."}, {"label": "goal", "start_step": 1083, "end_step": 1208, "id": "c5108970-4059-4745-954d-dfc93ea88cea"}, {"label": "subtasks", "start_step": 1102, "end_step": 1124, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: transport: Right hand transports the green hexagonal block towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1125, "end_step": 1229, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand mates the green hexagonal block onto the purple rod of the wooden base."}, {"label": "goal", "start_step": 1209, "end_step": 1294, "id": "1a6d60c9-01e4-4191-ad43-3d74a0064833"}, {"label": "subtasks", "start_step": 1230, "end_step": 1289, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand reaches toward the white hexagonal block on the dark table surface."}, {"label": "subtasks", "start_step": 1290, "end_step": 1327, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table."}, {"label": "goal", "start_step": 1295, "end_step": 2070, "id": "d7682453-27f0-4eca-ba78-c368ef254605"}, {"label": "subtasks", "start_step": 1328, "end_step": 1371, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block and transports it above the peg on the wooden base."}, {"label": "subtasks", "start_step": 1372, "end_step": 1619, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: release_push: Right hand releases the white hexagonal block and pushes blocks on the black table to adjust their positions."}, {"label": "subtasks", "start_step": 1620, "end_step": 1829, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table with finger adjustments for stable hold."}, {"label": "subtasks", "start_step": 1830, "end_step": 1881, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block and transports it above the target peg on the wooden base."}, {"label": "subtasks", "start_step": 1882, "end_step": 1971, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: place: Right hand places the white hexagonal block onto the target peg on the wooden base."}, {"label": "subtasks", "start_step": 1972, "end_step": 2069, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand adjusts the white hexagonal block to fit firmly onto the target peg."}, {"label": "subtasks", "start_step": 2070, "end_step": 2091, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: place: Right hand places the white cylindrical block onto the purple rod of the wooden base."}, {"label": "goal", "start_step": 2071, "end_step": 2178, "id": "53dccc2a-7e3f-4f20-8424-36ab71bde28f"}, {"label": "subtasks", "start_step": 2092, "end_step": 2137, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 2138, "end_step": 2197, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table."}, {"label": "goal", "start_step": 2179, "end_step": 2308, "id": "2cbd2b49-b6ec-406a-b826-a4c6265e725c"}, {"label": "subtasks", "start_step": 2198, "end_step": 2219, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the white ring from the table and transports it to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2220, "end_step": 2294, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: place: Right hand places the white ring onto the purple rod on the wooden base with slight downward adjustment."}, {"label": "subtasks", "start_step": 2295, "end_step": 2339, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: place_release: Right hand places the white ring onto the purple rod on the wooden base and releases the ring."}, {"label": "goal", "start_step": 2309, "end_step": 2424, "id": "5824e1a2-be74-44a4-8d15-82389de2420b"}, {"label": "subtasks", "start_step": 2340, "end_step": 2414, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves toward the white ring on the black table surface."}, {"label": "subtasks", "start_step": 2415, "end_step": 2444, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, fingers close to adjust and form a stable grip."}, {"label": "goal", "start_step": 2425, "end_step": 2608, "id": "e9b1af19-8531-4a19-889a-84497dc1e0af"}, {"label": "subtasks", "start_step": 2445, "end_step": 2467, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2468, "end_step": 2497, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand aligns the inner hole of the white hexagonal block with the top of the purple rod."}, {"label": "subtasks", "start_step": 2498, "end_step": 2594, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: place: Right hand lowers the white hexagonal block onto the purple rod until the block is fully seated on the rod."}, {"label": "subtasks", "start_step": 2595, "end_step": 2624, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: press: Right hand presses the white block with purple top on the rightmost column of the wooden base."}, {"label": "goal", "start_step": 2609, "end_step": 2704, "id": "de2e7889-4e62-4d40-87b2-9c47584f3a4a"}, {"label": "subtasks", "start_step": 2625, "end_step": 2654, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves downward towards the green cubic block on the black table surface."}, {"label": "subtasks", "start_step": 2655, "end_step": 2699, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand closes its fingers to grasp the green cubic block on the black table."}, {"label": "subtasks", "start_step": 2700, "end_step": 2729, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: release: Right hand releases the green block it is holding onto the right side of the table."}, {"label": "goal", "start_step": 2705, "end_step": 3398, "id": "ff294060-cb22-466a-b720-1b0d3d42e401"}, {"label": "subtasks", "start_step": 2730, "end_step": 3111, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: other:adjust_block_position: Right hand adjusts the position of the green block on the table with slight repeated touches and pushes."}, {"label": "subtasks", "start_step": 3112, "end_step": 3127, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand grasps the green block on the table."}, {"label": "subtasks", "start_step": 3128, "end_step": 3179, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the green block from the table and transports it towards the rightmost test tube on the wooden rack."}, {"label": "subtasks", "start_step": 3180, "end_step": 3381, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand aligns the green block with the rightmost test tube and fits it onto the test tube to complete assembly."}, {"label": "subtasks", "start_step": 3382, "end_step": 3404, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: release: Right hand releases the green block which is now fitted on the test tube."}, {"label": "home", "start_step": 3460, "end_step": 3493, "id": "GvhBj42WhSEUKFcxBYjsS"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 81, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves toward the green hexagonal object placed on the black table."}, {"label": "subtasks", "start_step": 82, "end_step": 194, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand contacts and adjusts fingers to grasp the green hexagonal object on the table."}, {"label": "subtasks", "start_step": 195, "end_step": 217, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it to the position above the leftmost purple post of the test tube rack."}, {"label": "subtasks", "start_step": 218, "end_step": 284, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand mates the green block with the leftmost purple post of the test tube rack, pushing it down to complete the assembly."}, {"label": "subtasks", "start_step": 285, "end_step": 314, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: place_release: Right hand places the white cylindrical block onto the pillar of the wooden base and releases its grip on the block."}, {"label": "subtasks", "start_step": 315, "end_step": 351, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves downwards towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 352, "end_step": 389, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 390, "end_step": 411, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it to the position above the leftmost purple rod on the green base."}, {"label": "subtasks", "start_step": 412, "end_step": 524, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand mates the white hexagonal block onto the leftmost purple rod of the green base, adjusting position to fit the rod into the block's hole."}, {"label": "subtasks", "start_step": 525, "end_step": 554, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: release: Right hand releases the white hexagonal block on the purple peg of the wooden base."}, {"label": "subtasks", "start_step": 555, "end_step": 577, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves down towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 578, "end_step": 659, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 660, "end_step": 689, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it to the upper position of the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 690, "end_step": 801, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand aligns the white hexagonal block with the front-left purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 802, "end_step": 824, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves downward to reach the white hex block on the black table."}, {"label": "subtasks", "start_step": 825, "end_step": 854, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand closes fingers to grasp the white hex block on the black table."}, {"label": "subtasks", "start_step": 855, "end_step": 869, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift: Right hand lifts the white hexagonal block from the black table surface."}, {"label": "subtasks", "start_step": 870, "end_step": 884, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: transport: Right hand transports the white hexagonal block to the position above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 885, "end_step": 944, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and fits the block onto the rod."}, {"label": "subtasks", "start_step": 945, "end_step": 1004, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: press: Right hand presses the white hexagonal block down along the purple rod to fix it in place."}, {"label": "subtasks", "start_step": 1005, "end_step": 1027, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand mates the white ring onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1028, "end_step": 1064, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves downward toward the green hollow block placed on the black table."}, {"label": "subtasks", "start_step": 1065, "end_step": 1079, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand closes fingers to grasp the green hollow block on the black table."}, {"label": "subtasks", "start_step": 1080, "end_step": 1101, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift: Right hand lifts the green hexagonal block from the black table surface."}, {"label": "subtasks", "start_step": 1102, "end_step": 1124, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: transport: Right hand transports the green hexagonal block towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1125, "end_step": 1229, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand mates the green hexagonal block onto the purple rod of the wooden base."}, {"label": "subtasks", "start_step": 1230, "end_step": 1289, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand reaches toward the white hexagonal block on the dark table surface."}, {"label": "subtasks", "start_step": 1290, "end_step": 1327, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 1328, "end_step": 1371, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block and transports it above the peg on the wooden base."}, {"label": "subtasks", "start_step": 1372, "end_step": 1619, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: release_push: Right hand releases the white hexagonal block and pushes blocks on the black table to adjust their positions."}, {"label": "subtasks", "start_step": 1620, "end_step": 1829, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table with finger adjustments for stable hold."}, {"label": "subtasks", "start_step": 1830, "end_step": 1881, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block and transports it above the target peg on the wooden base."}, {"label": "subtasks", "start_step": 1882, "end_step": 1971, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: place: Right hand places the white hexagonal block onto the target peg on the wooden base."}, {"label": "subtasks", "start_step": 1972, "end_step": 2069, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand adjusts the white hexagonal block to fit firmly onto the target peg."}, {"label": "subtasks", "start_step": 2070, "end_step": 2091, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: place: Right hand places the white cylindrical block onto the purple rod of the wooden base."}, {"label": "subtasks", "start_step": 2092, "end_step": 2137, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 2138, "end_step": 2197, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 2198, "end_step": 2219, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the white ring from the table and transports it to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2220, "end_step": 2294, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: place: Right hand places the white ring onto the purple rod on the wooden base with slight downward adjustment."}, {"label": "subtasks", "start_step": 2295, "end_step": 2339, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: place_release: Right hand places the white ring onto the purple rod on the wooden base and releases the ring."}, {"label": "subtasks", "start_step": 2340, "end_step": 2414, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves toward the white ring on the black table surface."}, {"label": "subtasks", "start_step": 2415, "end_step": 2444, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, fingers close to adjust and form a stable grip."}, {"label": "subtasks", "start_step": 2445, "end_step": 2467, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2468, "end_step": 2497, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand aligns the inner hole of the white hexagonal block with the top of the purple rod."}, {"label": "subtasks", "start_step": 2498, "end_step": 2594, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: place: Right hand lowers the white hexagonal block onto the purple rod until the block is fully seated on the rod."}, {"label": "subtasks", "start_step": 2595, "end_step": 2624, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: press: Right hand presses the white block with purple top on the rightmost column of the wooden base."}, {"label": "subtasks", "start_step": 2625, "end_step": 2654, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves downward towards the green cubic block on the black table surface."}, {"label": "subtasks", "start_step": 2655, "end_step": 2699, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand closes its fingers to grasp the green cubic block on the black table."}, {"label": "subtasks", "start_step": 2700, "end_step": 2729, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: release: Right hand releases the green block it is holding onto the right side of the table."}, {"label": "subtasks", "start_step": 2730, "end_step": 3111, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: other:adjust_block_position: Right hand adjusts the position of the green block on the table with slight repeated touches and pushes."}, {"label": "subtasks", "start_step": 3112, "end_step": 3127, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand grasps the green block on the table."}, {"label": "subtasks", "start_step": 3128, "end_step": 3179, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the green block from the table and transports it towards the rightmost test tube on the wooden rack."}, {"label": "subtasks", "start_step": 3180, "end_step": 3381, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand aligns the green block with the rightmost test tube and fits it onto the test tube to complete assembly."}, {"label": "subtasks", "start_step": 3382, "end_step": 3404, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: release: Right hand releases the green block which is now fitted on the test tube."}], "episode_index": 22}
+{"source_uid": "f9fc3b7e0ef1a6e0", "num_frames": 3673, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 37, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: idle: Right hand remains empty at the upper right initial position without moving."}, {"label": "goal", "start_step": 0, "end_step": 116, "id": "60cb4546-9d95-47f4-831e-ebd45cd5b36c"}, {"label": "valid", "start_step": 0, "end_step": 3639, "id": "DjQp8asEGxvAzz5CP_7Jm"}, {"label": "subtasks", "start_step": 38, "end_step": 81, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves downward and leftward toward the green hexagonal block near the wooden base, with fingers extended as it approaches the target."}, {"label": "subtasks", "start_step": 82, "end_step": 134, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand closes fingers around the green hexagonal block on the table, making minor adjustments to finger positions to form a grip."}, {"label": "goal", "start_step": 117, "end_step": 236, "id": "984f4343-ed0a-4ef6-a296-89e5b36b25aa"}, {"label": "subtasks", "start_step": 135, "end_step": 149, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift: Right hand moves vertically upward, lifting the grasped green hexagonal block completely away from the table surface."}, {"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 workspace without moving. | Right hand: transport: Right hand carries the lifted green hexagonal block upward toward the wooden peg rack, positioning the block directly above an unoccupied purple peg."}, {"label": "subtasks", "start_step": 172, "end_step": 201, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple peg, lowering the block to fit snugly onto the peg."}, {"label": "subtasks", "start_step": 202, "end_step": 224, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple peg without any observable movement of the hand or block."}, {"label": "subtasks", "start_step": 225, "end_step": 277, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves downward from the area above the wooden peg board toward the white hexagonal nut placed on the black table surface."}, {"label": "goal", "start_step": 237, "end_step": 292, "id": "9c1d4ef8-bb2a-416e-98b1-aa631717dc94"}, {"label": "subtasks", "start_step": 278, "end_step": 314, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand closes its fingers around the white hexagonal nut on the table to form a stable grip on the nut."}, {"label": "goal", "start_step": 293, "end_step": 432, "id": "bd0ded0e-3f00-4c3c-b64e-e53d73a4e9ed"}, {"label": "subtasks", "start_step": 315, "end_step": 337, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward to a position directly above the empty purple peg on the wooden peg board."}, {"label": "subtasks", "start_step": 338, "end_step": 367, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the target purple peg and lowers the nut to fit it onto the peg."}, {"label": "subtasks", "start_step": 368, "end_step": 419, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: hold: Right hand holds the white hexagonal nut fitted on the purple peg without observable movement of the hand, fingers or the nut."}, {"label": "subtasks", "start_step": 420, "end_step": 449, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate_release: Right hand holds the white hexagonal nut, fits it onto the purple rod on the light wooden base and releases the nut."}, {"label": "goal", "start_step": 433, "end_step": 512, "id": "b9893437-6368-4bc0-9e69-353611c33dee"}, {"label": "subtasks", "start_step": 450, "end_step": 479, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves downward with an empty hand toward the front white hexagonal nut on the black table surface."}, {"label": "subtasks", "start_step": 480, "end_step": 531, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand adjusts finger positions and closes fingers around the front white hexagonal nut on the black table to form a grip."}, {"label": "goal", "start_step": 513, "end_step": 642, "id": "36c463d8-e1a0-4306-91ed-5d67419e87bc"}, {"label": "subtasks", "start_step": 532, "end_step": 561, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal nut completely off the table and moves it upward to the position directly above the target purple rod on the wooden peg rack."}, {"label": "subtasks", "start_step": 562, "end_step": 629, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand aligns the white hexagonal nut with the target purple rod and lowers the nut to fit onto the rod, establishing the assembly connection."}, {"label": "subtasks", "start_step": 630, "end_step": 651, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: press: Right hand presses downward on the top of the topmost white hexagonal block on the purple peg of the assembly stand to secure it fully in place."}, {"label": "goal", "start_step": 643, "end_step": 716, "id": "cc0a792a-6eed-47a3-9349-62ae7dce32e3"}, {"label": "subtasks", "start_step": 652, "end_step": 681, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves empty downward toward the white hexagonal block placed on the table directly in front of the assembly stand."}, {"label": "subtasks", "start_step": 682, "end_step": 741, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand closes fingers around the target white hexagonal block on the table, adjusting finger contact positions to form a stable grasp."}, {"label": "goal", "start_step": 717, "end_step": 964, "id": "27478638-eec2-4209-822f-aeaf1fa163c9"}, {"label": "subtasks", "start_step": 742, "end_step": 764, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block completely off the table surface and moves it upward to position directly over the purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 765, "end_step": 951, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand adjusts the position and orientation of the white hexagonal block to align its central hole with the purple vertical rod, then lowers the block to fit it onto the rod until it rests securely on the lower stacked block."}, {"label": "subtasks", "start_step": 952, "end_step": 959, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: release: Right hand gradually opens its fingers to release the fitted white hexagonal block, separating the hand from the assembled block."}, {"label": "subtasks", "start_step": 960, "end_step": 1027, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves downward from its initial position above the wooden block stand toward the green hexagonal block placed on the black table surface in front of the stand, with fingers held open."}, {"label": "goal", "start_step": 965, "end_step": 1026, "id": "e0fe2e51-8958-4a21-8b28-834e493c28db"}, {"label": "goal", "start_step": 1027, "end_step": 1492, "id": "43b46b89-ee5b-4e76-9153-201329aa3dfd"}, {"label": "subtasks", "start_step": 1028, "end_step": 1041, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand closes its fingers around the green hexagonal block on the table to form a stable grip on the block."}, {"label": "subtasks", "start_step": 1042, "end_step": 1071, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift_transport: Right hand lifts the gripped green hexagonal block completely off the table surface, then moves it upward to position directly above an empty purple vertical peg on the block stand."}, {"label": "subtasks", "start_step": 1072, "end_step": 1191, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand makes small positional adjustments to the green hexagonal block to align its central hole with the purple peg, then lowers the block slightly in an attempt to fit it onto the peg before detecting misalignment."}, {"label": "subtasks", "start_step": 1192, "end_step": 1274, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reorient: Right hand lifts the green hexagonal block slightly above the purple peg and rotates the block slightly to adjust its angular alignment for proper fitting onto the peg."}, {"label": "subtasks", "start_step": 1275, "end_step": 1424, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand lowers the reoriented green hexagonal block down along the purple peg until the block rests securely on the white hexagonal block already positioned on the peg."}, {"label": "subtasks", "start_step": 1425, "end_step": 1469, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: hold: Right hand holds the seated green hexagonal block on the purple peg without visible movement of the hand or the block."}, {"label": "subtasks", "start_step": 1470, "end_step": 1507, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: release: Right hand opens its fingers gradually to release the grip on the green hexagonal block positioned on the purple peg."}, {"label": "goal", "start_step": 1493, "end_step": 1578, "id": "a942ee04-bc96-485e-ab65-5dadb031cae2"}, {"label": "subtasks", "start_step": 1508, "end_step": 1544, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves empty downward from the assembly rack toward the white hexagonal block resting on the table near the green block."}, {"label": "subtasks", "start_step": 1545, "end_step": 1574, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand closes fingers around the target white hexagonal block on the table, adjusting finger contact positions to establish a stable grasp."}, {"label": "subtasks", "start_step": 1575, "end_step": 1597, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift: Right hand holds the white hexagonal nut resting on the table surface, lifts it upward until the nut is completely separated from the table."}, {"label": "goal", "start_step": 1579, "end_step": 1974, "id": "324ae6a2-5242-41e5-bd35-ad7a5a1bd8cc"}, {"label": "subtasks", "start_step": 1598, "end_step": 1627, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: transport: Right hand carries the lifted white hexagonal nut, moves it toward the wooden assembly base until it is positioned directly above the purple post."}, {"label": "subtasks", "start_step": 1628, "end_step": 1941, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple post, makes slight finger and wrist adjustments to stabilize grip, and lowers the nut to fit onto the post."}, {"label": "subtasks", "start_step": 1942, "end_step": 1964, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: hold: Right hand holds the white hexagonal nut fitted on the purple post without any observable movement of the hand or the nut."}, {"label": "subtasks", "start_step": 1965, "end_step": 2024, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves downward and slightly rightward toward the upper white hexagonal nut placed to the right of the wooden block base, with fingers held slightly open and no contact with the target nut."}, {"label": "goal", "start_step": 1975, "end_step": 2072, "id": "5971473a-d39e-41e4-9d5c-13d0b471ac2a"}, {"label": "subtasks", "start_step": 2025, "end_step": 2069, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand makes contact with the upper white hexagonal nut on the table, closing fingers and making small positional adjustments to form a grip on the nut."}, {"label": "subtasks", "start_step": 2070, "end_step": 2084, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: hold: Right hand holds the white hexagonal nut resting on the dark table surface to the right of the wooden block stand, with no visible movement of the hand or the nut."}, {"label": "goal", "start_step": 2073, "end_step": 2214, "id": "25aa40f8-1dcc-4d21-9536-e13eba868aab"}, {"label": "subtasks", "start_step": 2085, "end_step": 2114, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and transports it upward then leftward to the position directly above the purple rod mounted on the wooden block stand."}, {"label": "subtasks", "start_step": 2115, "end_step": 2167, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: place: Right hand lowers the white hexagonal nut downward to place it onto the purple rod, fitting the nut over the rod until it rests stably on the stacked blocks beneath."}, {"label": "subtasks", "start_step": 2168, "end_step": 2181, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: release: Right hand opens its fingers to release the placed white hexagonal nut, breaking contact with the nut surface."}, {"label": "subtasks", "start_step": 2182, "end_step": 2204, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: retreat: Right hand moves while empty downward and rightward to retreat from the area adjacent to the placed nut on the wooden stand."}, {"label": "subtasks", "start_step": 2205, "end_step": 2257, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves downward and slightly left from the position adjacent to the purple rod on the wooden block rack toward the small white hexagonal block resting on the dark table surface."}, {"label": "goal", "start_step": 2215, "end_step": 2290, "id": "fb657332-4ba0-4f93-b417-f370a3c18776"}, {"label": "subtasks", "start_step": 2258, "end_step": 2279, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand closes fingers around the small white hexagonal block on the dark table surface to establish a grip, with the block remaining in contact with the table surface."}, {"label": "subtasks", "start_step": 2280, "end_step": 2309, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: hold: Right hand holds the white hexagonal block on the dark table surface near the green block without moving."}, {"label": "goal", "start_step": 2291, "end_step": 2510, "id": "7263ac10-dc04-4db3-8374-f00311b385ec"}, {"label": "subtasks", "start_step": 2310, "end_step": 2331, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and transports it upward to position above the purple peg on the wooden block rack."}, {"label": "subtasks", "start_step": 2332, "end_step": 2467, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand adjusts the position of the white hexagonal block to align with and mate onto the purple peg on the wooden block rack."}, {"label": "subtasks", "start_step": 2468, "end_step": 2504, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: release: Right hand opens its fingers to release the mated white hexagonal block from its grasp."}, {"label": "subtasks", "start_step": 2505, "end_step": 2557, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves diagonally downward and rightward across the dark table surface toward the green square block, with the index finger extended and no contact with the target block."}, {"label": "goal", "start_step": 2511, "end_step": 2610, "id": "a4bfc48b-a8be-4b2e-ae8c-7e09b237cdf0"}, {"label": "subtasks", "start_step": 2558, "end_step": 2609, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand makes contact with the green square block on the table, adjusting finger positions and closing fingers around the block to establish a grasp, with continuous slight finger movements during the period."}, {"label": "subtasks", "start_step": 2610, "end_step": 2631, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift: Right hand holds the green square block and lifts it upward from the dark table surface."}, {"label": "goal", "start_step": 2611, "end_step": 3584, "id": "2549c015-691b-4bc5-b5d3-27d50fa8e1d0"}, {"label": "subtasks", "start_step": 2632, "end_step": 2661, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: transport: Right hand carries the green square block upward and leftward to the area above the purple peg on the wooden block holder."}, {"label": "subtasks", "start_step": 2662, "end_step": 3539, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand adjusts the position and orientation of the green square block, aligns its central hole with the purple peg, and gradually lowers the block to fit onto the peg with small wrist and finger adjustments."}, {"label": "subtasks", "start_step": 3540, "end_step": 3584, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: place: Right hand lowers the green square block fully onto the purple peg until the block is stably supported on the holder."}, {"label": "home", "start_step": 3640, "end_step": 3672, "id": "ybZN5NB6O2sEpaMz9LqBz"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 37, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: idle: Right hand remains empty at the upper right initial position without moving."}, {"label": "subtasks", "start_step": 38, "end_step": 81, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves downward and leftward toward the green hexagonal block near the wooden base, with fingers extended as it approaches the target."}, {"label": "subtasks", "start_step": 82, "end_step": 134, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand closes fingers around the green hexagonal block on the table, making minor adjustments to finger positions to form a grip."}, {"label": "subtasks", "start_step": 135, "end_step": 149, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift: Right hand moves vertically upward, lifting the grasped green hexagonal block completely away from the table surface."}, {"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 workspace without moving. | Right hand: transport: Right hand carries the lifted green hexagonal block upward toward the wooden peg rack, positioning the block directly above an unoccupied purple peg."}, {"label": "subtasks", "start_step": 172, "end_step": 201, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple peg, lowering the block to fit snugly onto the peg."}, {"label": "subtasks", "start_step": 202, "end_step": 224, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple peg without any observable movement of the hand or block."}, {"label": "subtasks", "start_step": 225, "end_step": 277, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves downward from the area above the wooden peg board toward the white hexagonal nut placed on the black table surface."}, {"label": "subtasks", "start_step": 278, "end_step": 314, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand closes its fingers around the white hexagonal nut on the table to form a stable grip on the nut."}, {"label": "subtasks", "start_step": 315, "end_step": 337, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward to a position directly above the empty purple peg on the wooden peg board."}, {"label": "subtasks", "start_step": 338, "end_step": 367, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the target purple peg and lowers the nut to fit it onto the peg."}, {"label": "subtasks", "start_step": 368, "end_step": 419, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: hold: Right hand holds the white hexagonal nut fitted on the purple peg without observable movement of the hand, fingers or the nut."}, {"label": "subtasks", "start_step": 420, "end_step": 449, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate_release: Right hand holds the white hexagonal nut, fits it onto the purple rod on the light wooden base and releases the nut."}, {"label": "subtasks", "start_step": 450, "end_step": 479, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves downward with an empty hand toward the front white hexagonal nut on the black table surface."}, {"label": "subtasks", "start_step": 480, "end_step": 531, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand adjusts finger positions and closes fingers around the front white hexagonal nut on the black table to form a grip."}, {"label": "subtasks", "start_step": 532, "end_step": 561, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal nut completely off the table and moves it upward to the position directly above the target purple rod on the wooden peg rack."}, {"label": "subtasks", "start_step": 562, "end_step": 629, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand aligns the white hexagonal nut with the target purple rod and lowers the nut to fit onto the rod, establishing the assembly connection."}, {"label": "subtasks", "start_step": 630, "end_step": 651, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: press: Right hand presses downward on the top of the topmost white hexagonal block on the purple peg of the assembly stand to secure it fully in place."}, {"label": "subtasks", "start_step": 652, "end_step": 681, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves empty downward toward the white hexagonal block placed on the table directly in front of the assembly stand."}, {"label": "subtasks", "start_step": 682, "end_step": 741, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand closes fingers around the target white hexagonal block on the table, adjusting finger contact positions to form a stable grasp."}, {"label": "subtasks", "start_step": 742, "end_step": 764, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block completely off the table surface and moves it upward to position directly over the purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 765, "end_step": 951, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand adjusts the position and orientation of the white hexagonal block to align its central hole with the purple vertical rod, then lowers the block to fit it onto the rod until it rests securely on the lower stacked block."}, {"label": "subtasks", "start_step": 952, "end_step": 959, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: release: Right hand gradually opens its fingers to release the fitted white hexagonal block, separating the hand from the assembled block."}, {"label": "subtasks", "start_step": 960, "end_step": 1027, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves downward from its initial position above the wooden block stand toward the green hexagonal block placed on the black table surface in front of the stand, with fingers held open."}, {"label": "subtasks", "start_step": 1028, "end_step": 1041, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand closes its fingers around the green hexagonal block on the table to form a stable grip on the block."}, {"label": "subtasks", "start_step": 1042, "end_step": 1071, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift_transport: Right hand lifts the gripped green hexagonal block completely off the table surface, then moves it upward to position directly above an empty purple vertical peg on the block stand."}, {"label": "subtasks", "start_step": 1072, "end_step": 1191, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand makes small positional adjustments to the green hexagonal block to align its central hole with the purple peg, then lowers the block slightly in an attempt to fit it onto the peg before detecting misalignment."}, {"label": "subtasks", "start_step": 1192, "end_step": 1274, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reorient: Right hand lifts the green hexagonal block slightly above the purple peg and rotates the block slightly to adjust its angular alignment for proper fitting onto the peg."}, {"label": "subtasks", "start_step": 1275, "end_step": 1424, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand lowers the reoriented green hexagonal block down along the purple peg until the block rests securely on the white hexagonal block already positioned on the peg."}, {"label": "subtasks", "start_step": 1425, "end_step": 1469, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: hold: Right hand holds the seated green hexagonal block on the purple peg without visible movement of the hand or the block."}, {"label": "subtasks", "start_step": 1470, "end_step": 1507, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: release: Right hand opens its fingers gradually to release the grip on the green hexagonal block positioned on the purple peg."}, {"label": "subtasks", "start_step": 1508, "end_step": 1544, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves empty downward from the assembly rack toward the white hexagonal block resting on the table near the green block."}, {"label": "subtasks", "start_step": 1545, "end_step": 1574, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand closes fingers around the target white hexagonal block on the table, adjusting finger contact positions to establish a stable grasp."}, {"label": "subtasks", "start_step": 1575, "end_step": 1597, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift: Right hand holds the white hexagonal nut resting on the table surface, lifts it upward until the nut is completely separated from the table."}, {"label": "subtasks", "start_step": 1598, "end_step": 1627, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: transport: Right hand carries the lifted white hexagonal nut, moves it toward the wooden assembly base until it is positioned directly above the purple post."}, {"label": "subtasks", "start_step": 1628, "end_step": 1941, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple post, makes slight finger and wrist adjustments to stabilize grip, and lowers the nut to fit onto the post."}, {"label": "subtasks", "start_step": 1942, "end_step": 1964, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: hold: Right hand holds the white hexagonal nut fitted on the purple post without any observable movement of the hand or the nut."}, {"label": "subtasks", "start_step": 1965, "end_step": 2024, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves downward and slightly rightward toward the upper white hexagonal nut placed to the right of the wooden block base, with fingers held slightly open and no contact with the target nut."}, {"label": "subtasks", "start_step": 2025, "end_step": 2069, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand makes contact with the upper white hexagonal nut on the table, closing fingers and making small positional adjustments to form a grip on the nut."}, {"label": "subtasks", "start_step": 2070, "end_step": 2084, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: hold: Right hand holds the white hexagonal nut resting on the dark table surface to the right of the wooden block stand, with no visible movement of the hand or the nut."}, {"label": "subtasks", "start_step": 2085, "end_step": 2114, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and transports it upward then leftward to the position directly above the purple rod mounted on the wooden block stand."}, {"label": "subtasks", "start_step": 2115, "end_step": 2167, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: place: Right hand lowers the white hexagonal nut downward to place it onto the purple rod, fitting the nut over the rod until it rests stably on the stacked blocks beneath."}, {"label": "subtasks", "start_step": 2168, "end_step": 2181, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: release: Right hand opens its fingers to release the placed white hexagonal nut, breaking contact with the nut surface."}, {"label": "subtasks", "start_step": 2182, "end_step": 2204, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: retreat: Right hand moves while empty downward and rightward to retreat from the area adjacent to the placed nut on the wooden stand."}, {"label": "subtasks", "start_step": 2205, "end_step": 2257, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves downward and slightly left from the position adjacent to the purple rod on the wooden block rack toward the small white hexagonal block resting on the dark table surface."}, {"label": "subtasks", "start_step": 2258, "end_step": 2279, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand closes fingers around the small white hexagonal block on the dark table surface to establish a grip, with the block remaining in contact with the table surface."}, {"label": "subtasks", "start_step": 2280, "end_step": 2309, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: hold: Right hand holds the white hexagonal block on the dark table surface near the green block without moving."}, {"label": "subtasks", "start_step": 2310, "end_step": 2331, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and transports it upward to position above the purple peg on the wooden block rack."}, {"label": "subtasks", "start_step": 2332, "end_step": 2467, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand adjusts the position of the white hexagonal block to align with and mate onto the purple peg on the wooden block rack."}, {"label": "subtasks", "start_step": 2468, "end_step": 2504, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: release: Right hand opens its fingers to release the mated white hexagonal block from its grasp."}, {"label": "subtasks", "start_step": 2505, "end_step": 2557, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves diagonally downward and rightward across the dark table surface toward the green square block, with the index finger extended and no contact with the target block."}, {"label": "subtasks", "start_step": 2558, "end_step": 2609, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand makes contact with the green square block on the table, adjusting finger positions and closing fingers around the block to establish a grasp, with continuous slight finger movements during the period."}, {"label": "subtasks", "start_step": 2610, "end_step": 2631, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift: Right hand holds the green square block and lifts it upward from the dark table surface."}, {"label": "subtasks", "start_step": 2632, "end_step": 2661, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: transport: Right hand carries the green square block upward and leftward to the area above the purple peg on the wooden block holder."}, {"label": "subtasks", "start_step": 2662, "end_step": 3539, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand adjusts the position and orientation of the green square block, aligns its central hole with the purple peg, and gradually lowers the block to fit onto the peg with small wrist and finger adjustments."}, {"label": "subtasks", "start_step": 3540, "end_step": 3584, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: place: Right hand lowers the green square block fully onto the purple peg until the block is stably supported on the holder."}], "episode_index": 23}
+{"source_uid": "7ce2d0520a99df38", "num_frames": 4568, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_hand_pose: Left hand slightly rotates its wrist and opens fingers while staying at the left side of the table, with no contact with any object. | Right hand: reach: Right hand moves leftward and downward from the right side of the table toward the green hexagonal nut on the left part of the table, with fingers open."}, {"label": "goal", "start_step": 0, "end_step": 130, "id": "419a5f9c-eda9-4e05-ba45-bda6fafdccc8"}, {"label": "valid", "start_step": 0, "end_step": 4535, "id": "0Zht99qEYZX8dit3MaseB"}, {"label": "subtasks", "start_step": 30, "end_step": 74, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: reach: Right hand moves leftward and downward from the right side of the table toward the green hexagonal nut on the left part of the table, with fingers open."}, {"label": "subtasks", "start_step": 75, "end_step": 97, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: grasp: Right hand closes its fingers to grasp the green hexagonal nut on the table surface."}, {"label": "subtasks", "start_step": 98, "end_step": 119, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: hold: Right hand holds the green hexagonal nut on the table without any movement."}, {"label": "subtasks", "start_step": 120, "end_step": 141, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table, adjusting its fingers to form a stable grip."}, {"label": "goal", "start_step": 131, "end_step": 258, "id": "0ce40bff-d157-48d6-b0e7-2fe193a3f1f7"}, {"label": "subtasks", "start_step": 142, "end_step": 164, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it upward and rightward to the position above the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 165, "end_step": 179, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: mate: Right hand aligns the green hexagonal block with the leftmost purple peg and fits the block onto the peg."}, {"label": "subtasks", "start_step": 180, "end_step": 209, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: press: Right hand presses the green hexagonal block downward along the leftmost purple peg to seat it firmly."}, {"label": "subtasks", "start_step": 210, "end_step": 247, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: hold: Right hand holds the green hexagonal block on the leftmost purple peg without moving."}, {"label": "subtasks", "start_step": 248, "end_step": 254, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: release_retreat: Right hand releases the green hexagonal block while moving slightly upward away from the peg."}, {"label": "subtasks", "start_step": 255, "end_step": 284, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: reach: Right hand moves downward from the wooden peg board area toward the white hexagonal piece on the table, without contacting the piece."}, {"label": "goal", "start_step": 259, "end_step": 310, "id": "f9f59897-8331-43a9-9c1f-5d1d5abcd989"}, {"label": "subtasks", "start_step": 285, "end_step": 321, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: grasp: Right hand closes its fingers around the white hexagonal piece on the table and adjusts its grip to form a stable grasp."}, {"label": "goal", "start_step": 311, "end_step": 476, "id": "5ef41361-7738-45b1-9384-4083b7ed620f"}, {"label": "subtasks", "start_step": 322, "end_step": 351, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal piece off the table and moves it upward and toward the wooden peg board to position above the target peg."}, {"label": "subtasks", "start_step": 352, "end_step": 487, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: mate: Right hand aligns the white hexagonal piece with the target peg on the wooden board and lowers it onto the peg, making fine adjustments to the assembly position."}, {"label": "goal", "start_step": 477, "end_step": 540, "id": "1a61f9c1-205e-4bce-8de1-1eba4d1c2f84"}, {"label": "subtasks", "start_step": 488, "end_step": 509, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 510, "end_step": 554, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface with fingers adjusting to stabilize the grip."}, {"label": "goal", "start_step": 541, "end_step": 850, "id": "55267f3c-11a9-4e11-a192-d6b26ed592a8"}, {"label": "subtasks", "start_step": 555, "end_step": 569, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal object from the table and transports it to the upper left of the wooden peg rack."}, {"label": "subtasks", "start_step": 570, "end_step": 614, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: mate: Right hand aligns the white hexagonal object with the leftmost purple peg of the wooden rack and fits it onto the peg."}, {"label": "subtasks", "start_step": 615, "end_step": 659, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: press: Right hand presses the white hexagonal object downward along the purple peg to adjust its position."}, {"label": "subtasks", "start_step": 660, "end_step": 839, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: hold: Right hand holds the white hexagonal object on the leftmost purple peg of the wooden rack without moving."}, {"label": "subtasks", "start_step": 840, "end_step": 861, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: release: Right hand releases the white cylindrical block on the rightmost purple peg, with fingers opening from closed position."}, {"label": "goal", "start_step": 851, "end_step": 926, "id": "05c84e7b-cf4b-4ea8-82d5-ebbe100d60ef"}, {"label": "subtasks", "start_step": 862, "end_step": 891, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the table near the peg base."}, {"label": "subtasks", "start_step": 892, "end_step": 937, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing around the block to adjust the grip."}, {"label": "goal", "start_step": 927, "end_step": 1462, "id": "aea161bc-4cbb-4349-9834-42d007193b6d"}, {"label": "subtasks", "start_step": 938, "end_step": 959, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it toward the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 960, "end_step": 1454, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg and adjusts its vertical position along the peg repeatedly."}, {"label": "subtasks", "start_step": 1455, "end_step": 1477, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: release: Right hand releases the white hollow cylinder on the purple peg of the wooden base, with fingers opening from a closed grip."}, {"label": "goal", "start_step": 1463, "end_step": 1550, "id": "429b950a-6082-4e19-a469-e7bc50e47ffb"}, {"label": "subtasks", "start_step": 1478, "end_step": 1499, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: reach: Right hand moves downward toward the green hollow block on the black table surface."}, {"label": "subtasks", "start_step": 1500, "end_step": 1529, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: grasp: Right hand grasps the green hollow block on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1530, "end_step": 1544, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: hold: Right hand holds the green hollow block on the table without moving."}, {"label": "subtasks", "start_step": 1545, "end_step": 1567, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: grasp: Right hand grasps the green hexagonal block on the black worktable, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 1551, "end_step": 1970, "id": "4514ba70-d6f0-4709-8543-9299c42c0381"}, {"label": "subtasks", "start_step": 1568, "end_step": 1597, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the worktable and transports it to the position above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1598, "end_step": 1964, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: mate: Right hand mates the green hexagonal block with the purple peg on the wooden base, adjusting the block's position to fit onto the peg."}, {"label": "subtasks", "start_step": 1965, "end_step": 1987, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: release: Right hand releases the white cylindrical block on the wooden base with fingers opening."}, {"label": "goal", "start_step": 1971, "end_step": 2024, "id": "6197beac-b637-494f-ae2b-962c5b1f79c4"}, {"label": "subtasks", "start_step": 1988, "end_step": 2017, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: reach: Right hand moves downward to reach the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 2018, "end_step": 2047, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing and adjusting."}, {"label": "goal", "start_step": 2025, "end_step": 2172, "id": "0442a216-b6e1-492d-95bc-21da975c4ea7"}, {"label": "subtasks", "start_step": 2048, "end_step": 2077, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it upward toward the target peg on the wooden base."}, {"label": "subtasks", "start_step": 2078, "end_step": 2159, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: mate: Right hand aligns and fits the white hexagonal block onto the target vertical peg on the wooden base."}, {"label": "subtasks", "start_step": 2160, "end_step": 2181, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: mate_release: Right hand fits the white hollow hexagonal cylinder onto the purple vertical rod on the wooden base and releases the cylinder."}, {"label": "goal", "start_step": 2173, "end_step": 2242, "id": "dd81c834-a665-4dd8-9c71-98ffeb120d90"}, {"label": "subtasks", "start_step": 2182, "end_step": 2211, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: reach: Right hand moves downward toward the white hollow hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 2212, "end_step": 2257, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: grasp: Right hand grasps the white hollow hexagonal block on the black table surface with fingers closing and adjusting around it."}, {"label": "goal", "start_step": 2243, "end_step": 2536, "id": "2ad3a455-7bac-4a57-9644-8a79726f2e28"}, {"label": "subtasks", "start_step": 2258, "end_step": 2287, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it toward the top of the rightmost white column on the wooden base."}, {"label": "subtasks", "start_step": 2288, "end_step": 2339, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: mate: Right hand mates the white hexagonal block with the top of the rightmost white column by aligning and pressing it down onto the column top."}, {"label": "subtasks", "start_step": 2340, "end_step": 2354, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: release: Right hand releases the white hexagonal block, with fingers opening to separate from the block on top of the rightmost white column."}, {"label": "subtasks", "start_step": 2355, "end_step": 2377, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: grasp: Right hand grasps the white hexagonal block on top of the rightmost white column again, with fingers closing around the block."}, {"label": "subtasks", "start_step": 2378, "end_step": 2407, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: lift: Right hand lifts the white hexagonal block upward to separate it from the top of the rightmost white column."}, {"label": "subtasks", "start_step": 2408, "end_step": 2481, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: transport: Right hand transports the white hexagonal block downward and leftward to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2482, "end_step": 2534, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod by aligning and lowering it onto the purple rod."}, {"label": "subtasks", "start_step": 2535, "end_step": 2557, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: release: Right hand releases the white cylindrical block on the top-right peg of the wooden base, with fingers opening gradually from a closed grasp position."}, {"label": "goal", "start_step": 2537, "end_step": 2622, "id": "7d646bf3-1422-4fb6-9281-26e39547aacc"}, {"label": "subtasks", "start_step": 2558, "end_step": 2564, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: reach: Right hand moves downward and rightward in the air toward the white hexagonal block on the table at the lower right area."}, {"label": "subtasks", "start_step": 2565, "end_step": 2579, "id": "reasoning-language-00050", "text": "Left hand: other:finger_extend: Left hand extends its fingers slightly while keeping its overall position unchanged at the left side of the wooden base. | Right hand: reach: Right hand moves downward and rightward in the air toward the white hexagonal block on the table at the lower right area."}, {"label": "subtasks", "start_step": 2580, "end_step": 2594, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the wooden base, with fingers extended upward. | Right hand: reach: Right hand moves downward and rightward in the air toward the white hexagonal block on the table at the lower right area."}, {"label": "subtasks", "start_step": 2595, "end_step": 2609, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the wooden base, with fingers extended upward. | Right hand: grasp: Right hand grasps the white hexagonal block on the lower right table, with fingers closing around the block to form a stable grip."}, {"label": "subtasks", "start_step": 2610, "end_step": 2639, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the wooden base, with fingers extended upward. | Right hand: hold: Right hand holds the white hexagonal block on the right side of the table without moving."}, {"label": "goal", "start_step": 2623, "end_step": 2756, "id": "c0292a08-d2b2-4a77-9ced-354aa804d86f"}, {"label": "subtasks", "start_step": 2640, "end_step": 2661, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the wooden base, with fingers extended upward. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it toward the purple peg on the wooden tray."}, {"label": "subtasks", "start_step": 2662, "end_step": 2729, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the wooden base, with fingers extended upward. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg on the wooden tray and fits it onto the peg."}, {"label": "subtasks", "start_step": 2730, "end_step": 2744, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the wooden base, with fingers extended upward. | Right hand: hold: Right hand holds the white hexagonal block on the purple peg without moving."}, {"label": "subtasks", "start_step": 2745, "end_step": 2767, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the wooden base, with fingers extended upward. | Right hand: release: Right hand releases the white bottle with purple cap at the rightmost bottom position of the wooden rack, fingers open to separate from the bottle."}, {"label": "goal", "start_step": 2757, "end_step": 3382, "id": "02cc741b-160e-4a27-8c95-bf9c6d6e172a"}, {"label": "subtasks", "start_step": 2768, "end_step": 2797, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the wooden base, with fingers extended upward. | Right hand: reach: Right hand moves downward toward the green cubic block on the dark table surface, without making contact with the block."}, {"label": "subtasks", "start_step": 2798, "end_step": 2834, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the wooden base, with fingers extended upward. | Right hand: grasp_reorient: Right hand grasps the green cubic block and rotates it approximately a quarter turn to adjust its posture on the table."}, {"label": "subtasks", "start_step": 2835, "end_step": 2857, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the wooden base, with fingers extended upward. | Right hand: release: Right hand releases the green cubic block, fingers open to separate from the block."}, {"label": "subtasks", "start_step": 2858, "end_step": 2879, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the wooden base, with fingers extended upward. | Right hand: idle: Right hand remains empty above the green cubic block without moving."}, {"label": "subtasks", "start_step": 2880, "end_step": 2901, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the wooden base, with fingers extended upward. | Right hand: reach: Right hand reaches downward toward the green cubic block on the table."}, {"label": "subtasks", "start_step": 2902, "end_step": 2961, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the wooden base, with fingers extended upward. | Right hand: grasp_push: Right hand grasps the green cubic block and pushes it along the table surface toward the lower right direction."}, {"label": "subtasks", "start_step": 2962, "end_step": 2991, "id": "reasoning-language-00064", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the wooden base, with fingers extended upward. | Right hand: hold: Right hand holds the green cubic block on the table without moving."}, {"label": "subtasks", "start_step": 2992, "end_step": 3014, "id": "reasoning-language-00065", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the wooden base, with fingers extended upward. | Right hand: release: Right hand releases the green cubic block, fingers open to separate from the block."}, {"label": "subtasks", "start_step": 3015, "end_step": 3044, "id": "reasoning-language-00066", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the wooden base, with fingers extended upward. | Right hand: idle: Right hand remains empty beside the green cubic block without moving."}, {"label": "subtasks", "start_step": 3045, "end_step": 3074, "id": "reasoning-language-00067", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the wooden base, with fingers extended upward. | Right hand: reach: Right hand reaches toward the green cubic block on the table."}, {"label": "subtasks", "start_step": 3075, "end_step": 3164, "id": "reasoning-language-00068", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the wooden base, with fingers extended upward. | Right hand: grasp_reorient: Right hand grasps the green cubic block and rotates it about half a turn to adjust its posture on the table."}, {"label": "subtasks", "start_step": 3165, "end_step": 3209, "id": "reasoning-language-00069", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the wooden base, with fingers extended upward. | Right hand: release: Right hand releases the green cubic block and adjusts its position slightly on the table."}, {"label": "subtasks", "start_step": 3210, "end_step": 3239, "id": "reasoning-language-00070", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the wooden base, with fingers extended upward. | Right hand: idle: Right hand remains empty beside the green cubic block without moving."}, {"label": "subtasks", "start_step": 3240, "end_step": 3261, "id": "reasoning-language-00071", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the wooden base, with fingers extended upward. | Right hand: reach: Right hand reaches toward the green cubic block on the table."}, {"label": "subtasks", "start_step": 3262, "end_step": 3321, "id": "reasoning-language-00072", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the wooden base, with fingers extended upward. | Right hand: grasp_reorient: Right hand grasps the green cubic block and rotates it slightly to adjust its posture on the table."}, {"label": "subtasks", "start_step": 3322, "end_step": 3351, "id": "reasoning-language-00073", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the wooden base, with fingers extended upward. | Right hand: release: Right hand releases the green cubic block, fingers open to separate from the block."}, {"label": "subtasks", "start_step": 3352, "end_step": 3367, "id": "reasoning-language-00074", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the wooden base, with fingers extended upward. | Right hand: reach: Right hand reaches toward the green cubic block on the table."}, {"label": "subtasks", "start_step": 3368, "end_step": 3397, "id": "reasoning-language-00075", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the wooden base, with fingers extended upward. | Right hand: grasp: Right hand grasps the green cubic block on the table, fingers close around the block to establish stable grip."}, {"label": "goal", "start_step": 3383, "end_step": 4478, "id": "946b918d-d413-44ba-91eb-a376ed878f76"}, {"label": "subtasks", "start_step": 3398, "end_step": 3411, "id": "reasoning-language-00076", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the wooden base, with fingers extended upward. | Right hand: lift: Right hand lifts the green square ring upward until it is fully separated from the table surface."}, {"label": "subtasks", "start_step": 3412, "end_step": 3457, "id": "reasoning-language-00077", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the wooden base, with fingers extended upward. | Right hand: transport: Right hand transports the green square ring leftward and upward to the area above the 3x3 bottle set."}, {"label": "subtasks", "start_step": 3458, "end_step": 3554, "id": "reasoning-language-00078", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the wooden base, with fingers extended upward. | Right hand: mate: Right hand aligns the green square ring with a back-row bottle and adjusts its position to attempt fitting the ring onto the bottle."}, {"label": "subtasks", "start_step": 3555, "end_step": 3591, "id": "reasoning-language-00079", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the wooden base, with fingers extended upward. | Right hand: transport: Right hand transports the green square ring slightly upward and leftward to the area above a middle-row bottle."}, {"label": "subtasks", "start_step": 3592, "end_step": 3794, "id": "reasoning-language-00080", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the wooden base, with fingers extended upward. | Right hand: mate: Right hand aligns the green square ring with the middle-row bottle and makes fine position adjustments to attempt fitting."}, {"label": "subtasks", "start_step": 3795, "end_step": 3847, "id": "reasoning-language-00081", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the wooden base, with fingers extended upward. | Right hand: transport: Right hand transports the green square ring forward and leftward to the area above the front-left bottle."}, {"label": "subtasks", "start_step": 3848, "end_step": 3959, "id": "reasoning-language-00082", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the wooden base, with fingers extended upward. | Right hand: mate: Right hand aligns the green square ring with the front-left bottle and adjusts position to attempt fitting."}, {"label": "subtasks", "start_step": 3960, "end_step": 3997, "id": "reasoning-language-00083", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the wooden base, with fingers extended upward. | Right hand: transport: Right hand transports the green square ring rightward and backward to the area above the middle-column middle bottle."}, {"label": "subtasks", "start_step": 3998, "end_step": 4177, "id": "reasoning-language-00084", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the wooden base, with fingers extended upward. | Right hand: mate: Right hand aligns the green square ring with the middle-column middle bottle and adjusts posture to attempt fitting."}, {"label": "subtasks", "start_step": 4178, "end_step": 4244, "id": "reasoning-language-00085", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the wooden base, with fingers extended upward. | Right hand: transport: Right hand transports the green square ring backward to the area above the back-middle bottle."}, {"label": "subtasks", "start_step": 4245, "end_step": 4304, "id": "reasoning-language-00086", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the wooden base, with fingers extended upward. | Right hand: mate: Right hand aligns the green square ring with the back-middle bottle and adjusts position to attempt fitting."}, {"label": "subtasks", "start_step": 4305, "end_step": 4357, "id": "reasoning-language-00087", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the wooden base, with fingers extended upward. | Right hand: transport: Right hand transports the green square ring forward and rightward to the area above the front-right bottle."}, {"label": "subtasks", "start_step": 4358, "end_step": 4469, "id": "reasoning-language-00088", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the wooden base, with fingers extended upward. | Right hand: mate: Right hand aligns the green square ring with the front-right bottle and presses it down until the ring is fully fitted onto the bottle."}, {"label": "subtasks", "start_step": 4470, "end_step": 4484, "id": "reasoning-language-00089", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the wooden base, with fingers extended upward. | Right hand: release: Right hand releases the green square ring by opening its fingers, separating from the ring."}, {"label": "home", "start_step": 4536, "end_step": 4567, "id": "-1_a0txLbi5TUH-swxrUs"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_hand_pose: Left hand slightly rotates its wrist and opens fingers while staying at the left side of the table, with no contact with any object. | Right hand: reach: Right hand moves leftward and downward from the right side of the table toward the green hexagonal nut on the left part of the table, with fingers open."}, {"label": "subtasks", "start_step": 30, "end_step": 74, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: reach: Right hand moves leftward and downward from the right side of the table toward the green hexagonal nut on the left part of the table, with fingers open."}, {"label": "subtasks", "start_step": 75, "end_step": 97, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: grasp: Right hand closes its fingers to grasp the green hexagonal nut on the table surface."}, {"label": "subtasks", "start_step": 98, "end_step": 119, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: hold: Right hand holds the green hexagonal nut on the table without any movement."}, {"label": "subtasks", "start_step": 120, "end_step": 141, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table, adjusting its fingers to form a stable grip."}, {"label": "subtasks", "start_step": 142, "end_step": 164, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it upward and rightward to the position above the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 165, "end_step": 179, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: mate: Right hand aligns the green hexagonal block with the leftmost purple peg and fits the block onto the peg."}, {"label": "subtasks", "start_step": 180, "end_step": 209, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: press: Right hand presses the green hexagonal block downward along the leftmost purple peg to seat it firmly."}, {"label": "subtasks", "start_step": 210, "end_step": 247, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: hold: Right hand holds the green hexagonal block on the leftmost purple peg without moving."}, {"label": "subtasks", "start_step": 248, "end_step": 254, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: release_retreat: Right hand releases the green hexagonal block while moving slightly upward away from the peg."}, {"label": "subtasks", "start_step": 255, "end_step": 284, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: reach: Right hand moves downward from the wooden peg board area toward the white hexagonal piece on the table, without contacting the piece."}, {"label": "subtasks", "start_step": 285, "end_step": 321, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: grasp: Right hand closes its fingers around the white hexagonal piece on the table and adjusts its grip to form a stable grasp."}, {"label": "subtasks", "start_step": 322, "end_step": 351, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal piece off the table and moves it upward and toward the wooden peg board to position above the target peg."}, {"label": "subtasks", "start_step": 352, "end_step": 487, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: mate: Right hand aligns the white hexagonal piece with the target peg on the wooden board and lowers it onto the peg, making fine adjustments to the assembly position."}, {"label": "subtasks", "start_step": 488, "end_step": 509, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 510, "end_step": 554, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface with fingers adjusting to stabilize the grip."}, {"label": "subtasks", "start_step": 555, "end_step": 569, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal object from the table and transports it to the upper left of the wooden peg rack."}, {"label": "subtasks", "start_step": 570, "end_step": 614, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: mate: Right hand aligns the white hexagonal object with the leftmost purple peg of the wooden rack and fits it onto the peg."}, {"label": "subtasks", "start_step": 615, "end_step": 659, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: press: Right hand presses the white hexagonal object downward along the purple peg to adjust its position."}, {"label": "subtasks", "start_step": 660, "end_step": 839, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: hold: Right hand holds the white hexagonal object on the leftmost purple peg of the wooden rack without moving."}, {"label": "subtasks", "start_step": 840, "end_step": 861, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: release: Right hand releases the white cylindrical block on the rightmost purple peg, with fingers opening from closed position."}, {"label": "subtasks", "start_step": 862, "end_step": 891, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the table near the peg base."}, {"label": "subtasks", "start_step": 892, "end_step": 937, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing around the block to adjust the grip."}, {"label": "subtasks", "start_step": 938, "end_step": 959, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it toward the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 960, "end_step": 1454, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg and adjusts its vertical position along the peg repeatedly."}, {"label": "subtasks", "start_step": 1455, "end_step": 1477, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: release: Right hand releases the white hollow cylinder on the purple peg of the wooden base, with fingers opening from a closed grip."}, {"label": "subtasks", "start_step": 1478, "end_step": 1499, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: reach: Right hand moves downward toward the green hollow block on the black table surface."}, {"label": "subtasks", "start_step": 1500, "end_step": 1529, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: grasp: Right hand grasps the green hollow block on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1530, "end_step": 1544, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: hold: Right hand holds the green hollow block on the table without moving."}, {"label": "subtasks", "start_step": 1545, "end_step": 1567, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: grasp: Right hand grasps the green hexagonal block on the black worktable, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1568, "end_step": 1597, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the worktable and transports it to the position above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1598, "end_step": 1964, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: mate: Right hand mates the green hexagonal block with the purple peg on the wooden base, adjusting the block's position to fit onto the peg."}, {"label": "subtasks", "start_step": 1965, "end_step": 1987, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: release: Right hand releases the white cylindrical block on the wooden base with fingers opening."}, {"label": "subtasks", "start_step": 1988, "end_step": 2017, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: reach: Right hand moves downward to reach the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 2018, "end_step": 2047, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing and adjusting."}, {"label": "subtasks", "start_step": 2048, "end_step": 2077, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it upward toward the target peg on the wooden base."}, {"label": "subtasks", "start_step": 2078, "end_step": 2159, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: mate: Right hand aligns and fits the white hexagonal block onto the target vertical peg on the wooden base."}, {"label": "subtasks", "start_step": 2160, "end_step": 2181, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: mate_release: Right hand fits the white hollow hexagonal cylinder onto the purple vertical rod on the wooden base and releases the cylinder."}, {"label": "subtasks", "start_step": 2182, "end_step": 2211, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: reach: Right hand moves downward toward the white hollow hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 2212, "end_step": 2257, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: grasp: Right hand grasps the white hollow hexagonal block on the black table surface with fingers closing and adjusting around it."}, {"label": "subtasks", "start_step": 2258, "end_step": 2287, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it toward the top of the rightmost white column on the wooden base."}, {"label": "subtasks", "start_step": 2288, "end_step": 2339, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: mate: Right hand mates the white hexagonal block with the top of the rightmost white column by aligning and pressing it down onto the column top."}, {"label": "subtasks", "start_step": 2340, "end_step": 2354, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: release: Right hand releases the white hexagonal block, with fingers opening to separate from the block on top of the rightmost white column."}, {"label": "subtasks", "start_step": 2355, "end_step": 2377, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: grasp: Right hand grasps the white hexagonal block on top of the rightmost white column again, with fingers closing around the block."}, {"label": "subtasks", "start_step": 2378, "end_step": 2407, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: lift: Right hand lifts the white hexagonal block upward to separate it from the top of the rightmost white column."}, {"label": "subtasks", "start_step": 2408, "end_step": 2481, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: transport: Right hand transports the white hexagonal block downward and leftward to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2482, "end_step": 2534, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod by aligning and lowering it onto the purple rod."}, {"label": "subtasks", "start_step": 2535, "end_step": 2557, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: release: Right hand releases the white cylindrical block on the top-right peg of the wooden base, with fingers opening gradually from a closed grasp position."}, {"label": "subtasks", "start_step": 2558, "end_step": 2564, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: reach: Right hand moves downward and rightward in the air toward the white hexagonal block on the table at the lower right area."}, {"label": "subtasks", "start_step": 2565, "end_step": 2579, "id": "reasoning-language-00050", "text": "Left hand: other:finger_extend: Left hand extends its fingers slightly while keeping its overall position unchanged at the left side of the wooden base. | Right hand: reach: Right hand moves downward and rightward in the air toward the white hexagonal block on the table at the lower right area."}, {"label": "subtasks", "start_step": 2580, "end_step": 2594, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the wooden base, with fingers extended upward. | Right hand: reach: Right hand moves downward and rightward in the air toward the white hexagonal block on the table at the lower right area."}, {"label": "subtasks", "start_step": 2595, "end_step": 2609, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the wooden base, with fingers extended upward. | Right hand: grasp: Right hand grasps the white hexagonal block on the lower right table, with fingers closing around the block to form a stable grip."}, {"label": "subtasks", "start_step": 2610, "end_step": 2639, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the wooden base, with fingers extended upward. | Right hand: hold: Right hand holds the white hexagonal block on the right side of the table without moving."}, {"label": "subtasks", "start_step": 2640, "end_step": 2661, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the wooden base, with fingers extended upward. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it toward the purple peg on the wooden tray."}, {"label": "subtasks", "start_step": 2662, "end_step": 2729, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the wooden base, with fingers extended upward. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg on the wooden tray and fits it onto the peg."}, {"label": "subtasks", "start_step": 2730, "end_step": 2744, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the wooden base, with fingers extended upward. | Right hand: hold: Right hand holds the white hexagonal block on the purple peg without moving."}, {"label": "subtasks", "start_step": 2745, "end_step": 2767, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the wooden base, with fingers extended upward. | Right hand: release: Right hand releases the white bottle with purple cap at the rightmost bottom position of the wooden rack, fingers open to separate from the bottle."}, {"label": "subtasks", "start_step": 2768, "end_step": 2797, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the wooden base, with fingers extended upward. | Right hand: reach: Right hand moves downward toward the green cubic block on the dark table surface, without making contact with the block."}, {"label": "subtasks", "start_step": 2798, "end_step": 2834, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the wooden base, with fingers extended upward. | Right hand: grasp_reorient: Right hand grasps the green cubic block and rotates it approximately a quarter turn to adjust its posture on the table."}, {"label": "subtasks", "start_step": 2835, "end_step": 2857, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the wooden base, with fingers extended upward. | Right hand: release: Right hand releases the green cubic block, fingers open to separate from the block."}, {"label": "subtasks", "start_step": 2858, "end_step": 2879, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the wooden base, with fingers extended upward. | Right hand: idle: Right hand remains empty above the green cubic block without moving."}, {"label": "subtasks", "start_step": 2880, "end_step": 2901, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the wooden base, with fingers extended upward. | Right hand: reach: Right hand reaches downward toward the green cubic block on the table."}, {"label": "subtasks", "start_step": 2902, "end_step": 2961, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the wooden base, with fingers extended upward. | Right hand: grasp_push: Right hand grasps the green cubic block and pushes it along the table surface toward the lower right direction."}, {"label": "subtasks", "start_step": 2962, "end_step": 2991, "id": "reasoning-language-00064", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the wooden base, with fingers extended upward. | Right hand: hold: Right hand holds the green cubic block on the table without moving."}, {"label": "subtasks", "start_step": 2992, "end_step": 3014, "id": "reasoning-language-00065", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the wooden base, with fingers extended upward. | Right hand: release: Right hand releases the green cubic block, fingers open to separate from the block."}, {"label": "subtasks", "start_step": 3015, "end_step": 3044, "id": "reasoning-language-00066", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the wooden base, with fingers extended upward. | Right hand: idle: Right hand remains empty beside the green cubic block without moving."}, {"label": "subtasks", "start_step": 3045, "end_step": 3074, "id": "reasoning-language-00067", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the wooden base, with fingers extended upward. | Right hand: reach: Right hand reaches toward the green cubic block on the table."}, {"label": "subtasks", "start_step": 3075, "end_step": 3164, "id": "reasoning-language-00068", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the wooden base, with fingers extended upward. | Right hand: grasp_reorient: Right hand grasps the green cubic block and rotates it about half a turn to adjust its posture on the table."}, {"label": "subtasks", "start_step": 3165, "end_step": 3209, "id": "reasoning-language-00069", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the wooden base, with fingers extended upward. | Right hand: release: Right hand releases the green cubic block and adjusts its position slightly on the table."}, {"label": "subtasks", "start_step": 3210, "end_step": 3239, "id": "reasoning-language-00070", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the wooden base, with fingers extended upward. | Right hand: idle: Right hand remains empty beside the green cubic block without moving."}, {"label": "subtasks", "start_step": 3240, "end_step": 3261, "id": "reasoning-language-00071", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the wooden base, with fingers extended upward. | Right hand: reach: Right hand reaches toward the green cubic block on the table."}, {"label": "subtasks", "start_step": 3262, "end_step": 3321, "id": "reasoning-language-00072", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the wooden base, with fingers extended upward. | Right hand: grasp_reorient: Right hand grasps the green cubic block and rotates it slightly to adjust its posture on the table."}, {"label": "subtasks", "start_step": 3322, "end_step": 3351, "id": "reasoning-language-00073", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the wooden base, with fingers extended upward. | Right hand: release: Right hand releases the green cubic block, fingers open to separate from the block."}, {"label": "subtasks", "start_step": 3352, "end_step": 3367, "id": "reasoning-language-00074", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the wooden base, with fingers extended upward. | Right hand: reach: Right hand reaches toward the green cubic block on the table."}, {"label": "subtasks", "start_step": 3368, "end_step": 3397, "id": "reasoning-language-00075", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the wooden base, with fingers extended upward. | Right hand: grasp: Right hand grasps the green cubic block on the table, fingers close around the block to establish stable grip."}, {"label": "subtasks", "start_step": 3398, "end_step": 3411, "id": "reasoning-language-00076", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the wooden base, with fingers extended upward. | Right hand: lift: Right hand lifts the green square ring upward until it is fully separated from the table surface."}, {"label": "subtasks", "start_step": 3412, "end_step": 3457, "id": "reasoning-language-00077", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the wooden base, with fingers extended upward. | Right hand: transport: Right hand transports the green square ring leftward and upward to the area above the 3x3 bottle set."}, {"label": "subtasks", "start_step": 3458, "end_step": 3554, "id": "reasoning-language-00078", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the wooden base, with fingers extended upward. | Right hand: mate: Right hand aligns the green square ring with a back-row bottle and adjusts its position to attempt fitting the ring onto the bottle."}, {"label": "subtasks", "start_step": 3555, "end_step": 3591, "id": "reasoning-language-00079", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the wooden base, with fingers extended upward. | Right hand: transport: Right hand transports the green square ring slightly upward and leftward to the area above a middle-row bottle."}, {"label": "subtasks", "start_step": 3592, "end_step": 3794, "id": "reasoning-language-00080", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the wooden base, with fingers extended upward. | Right hand: mate: Right hand aligns the green square ring with the middle-row bottle and makes fine position adjustments to attempt fitting."}, {"label": "subtasks", "start_step": 3795, "end_step": 3847, "id": "reasoning-language-00081", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the wooden base, with fingers extended upward. | Right hand: transport: Right hand transports the green square ring forward and leftward to the area above the front-left bottle."}, {"label": "subtasks", "start_step": 3848, "end_step": 3959, "id": "reasoning-language-00082", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the wooden base, with fingers extended upward. | Right hand: mate: Right hand aligns the green square ring with the front-left bottle and adjusts position to attempt fitting."}, {"label": "subtasks", "start_step": 3960, "end_step": 3997, "id": "reasoning-language-00083", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the wooden base, with fingers extended upward. | Right hand: transport: Right hand transports the green square ring rightward and backward to the area above the middle-column middle bottle."}, {"label": "subtasks", "start_step": 3998, "end_step": 4177, "id": "reasoning-language-00084", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the wooden base, with fingers extended upward. | Right hand: mate: Right hand aligns the green square ring with the middle-column middle bottle and adjusts posture to attempt fitting."}, {"label": "subtasks", "start_step": 4178, "end_step": 4244, "id": "reasoning-language-00085", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the wooden base, with fingers extended upward. | Right hand: transport: Right hand transports the green square ring backward to the area above the back-middle bottle."}, {"label": "subtasks", "start_step": 4245, "end_step": 4304, "id": "reasoning-language-00086", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the wooden base, with fingers extended upward. | Right hand: mate: Right hand aligns the green square ring with the back-middle bottle and adjusts position to attempt fitting."}, {"label": "subtasks", "start_step": 4305, "end_step": 4357, "id": "reasoning-language-00087", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the wooden base, with fingers extended upward. | Right hand: transport: Right hand transports the green square ring forward and rightward to the area above the front-right bottle."}, {"label": "subtasks", "start_step": 4358, "end_step": 4469, "id": "reasoning-language-00088", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the wooden base, with fingers extended upward. | Right hand: mate: Right hand aligns the green square ring with the front-right bottle and presses it down until the ring is fully fitted onto the bottle."}, {"label": "subtasks", "start_step": 4470, "end_step": 4484, "id": "reasoning-language-00089", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the wooden base, with fingers extended upward. | Right hand: release: Right hand releases the green square ring by opening its fingers, separating from the ring."}], "episode_index": 24}
+{"source_uid": "0c2a793778ee850f", "num_frames": 3042, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 51, "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 towards the green hexagonal block placed in front of the wooden peg base on the table."}, {"label": "goal", "start_step": 0, "end_step": 136, "id": "9e197e3c-f278-4d91-9b06-c49b5326440a"}, {"label": "valid", "start_step": 0, "end_step": 3010, "id": "HEjca68JQZMJclu5inM8O"}, {"label": "subtasks", "start_step": 52, "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 adjusts its fingers to establish a stable grasp on the green hexagonal block on the table."}, {"label": "subtasks", "start_step": 135, "end_step": 157, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green block from the black table surface."}, {"label": "goal", "start_step": 137, "end_step": 300, "id": "ac223723-016d-43f0-a5f6-5bad429f7fcf"}, {"label": "subtasks", "start_step": 158, "end_step": 187, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green block towards the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 188, "end_step": 209, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the hole of the green block with the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 210, "end_step": 299, "id": "reasoning-language-00006", "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 block down onto the leftmost purple peg to fit it in place."}, {"label": "subtasks", "start_step": 300, "end_step": 337, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the wooden base toward the white hexagonal block on the table."}, {"label": "goal", "start_step": 301, "end_step": 366, "id": "4685d3a0-f4be-4e01-aca4-efefdabeec9d"}, {"label": "subtasks", "start_step": 338, "end_step": 374, "id": "reasoning-language-00008", "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 white hexagonal block on the table."}, {"label": "goal", "start_step": 367, "end_step": 490, "id": "658d1044-87c6-4513-80a2-9e3600ad075b"}, {"label": "subtasks", "start_step": 375, "end_step": 389, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block off the table surface."}, {"label": "subtasks", "start_step": 390, "end_step": 404, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand carries the white hexagonal block to the position above the purple post on the wooden base."}, {"label": "subtasks", "start_step": 405, "end_step": 479, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple post and fits it onto the post."}, {"label": "subtasks", "start_step": 480, "end_step": 501, "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 white hexagonal block onto the purple pillar of the wooden base, until the block is stably supported."}, {"label": "goal", "start_step": 491, "end_step": 568, "id": "a77bcba0-692b-47ac-bdd5-d9017b5d6954"}, {"label": "subtasks", "start_step": 502, "end_step": 524, "id": "reasoning-language-00013", "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 white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 525, "end_step": 584, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to form a stable grip on the white hexagonal block on the black tabletop."}, {"label": "goal", "start_step": 569, "end_step": 722, "id": "ddd73b85-621c-4035-9805-c3e7e037afce"}, {"label": "subtasks", "start_step": 585, "end_step": 614, "id": "reasoning-language-00015", "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 white hexagonal block off the table and transports it to the position above the target purple post on the wooden base."}, {"label": "subtasks", "start_step": 615, "end_step": 644, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the target purple post on the wooden base."}, {"label": "subtasks", "start_step": 645, "end_step": 719, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block down onto the purple post until the block is stably supported by the post."}, {"label": "subtasks", "start_step": 720, "end_step": 741, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block, with fingers opening to separate from the block."}, {"label": "goal", "start_step": 723, "end_step": 776, "id": "43517d26-3897-4c93-b398-97b9c8f2dbc7"}, {"label": "subtasks", "start_step": 742, "end_step": 787, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white cylindrical block on the table."}, {"label": "goal", "start_step": 777, "end_step": 1116, "id": "56a1a96e-94c0-45c7-a01f-2c5081648e90"}, {"label": "subtasks", "start_step": 788, "end_step": 801, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white cylindrical block on the table."}, {"label": "subtasks", "start_step": 802, "end_step": 817, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white cylindrical block off the table surface."}, {"label": "subtasks", "start_step": 818, "end_step": 1109, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand moves the white cylindrical block to the wooden base, aligns it with a purple peg and inserts it onto the peg."}, {"label": "subtasks", "start_step": 1110, "end_step": 1124, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical block on the purple peg."}, {"label": "goal", "start_step": 1117, "end_step": 1278, "id": "9c1d6133-5f78-4b78-b19d-292a4b97485a"}, {"label": "subtasks", "start_step": 1125, "end_step": 1154, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the wooden peg base toward the green hexagonal block on the table."}, {"label": "subtasks", "start_step": 1155, "end_step": 1297, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand touches the green hexagonal block on the table and adjusts fingers to form a stable grasp."}, {"label": "goal", "start_step": 1279, "end_step": 1618, "id": "27a3be2f-43ea-4004-ae09-14a6eda2d86d"}, {"label": "subtasks", "start_step": 1298, "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: lift_transport: Right hand lifts the green block and transports it towards the wooden peg base."}, {"label": "subtasks", "start_step": 1335, "end_step": 1409, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green block onto a peg on the wooden base."}, {"label": "subtasks", "start_step": 1410, "end_step": 1447, "id": "reasoning-language-00028", "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 green block from the peg and transports it to another adjacent peg."}, {"label": "subtasks", "start_step": 1448, "end_step": 1604, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green block onto the target adjacent peg on the wooden base."}, {"label": "subtasks", "start_step": 1605, "end_step": 1634, "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 white cylindrical block onto the peg on the wooden base."}, {"label": "goal", "start_step": 1619, "end_step": 1692, "id": "3a33ad78-d1a2-4f6f-a46a-f08c047c7a41"}, {"label": "subtasks", "start_step": 1635, "end_step": 1657, "id": "reasoning-language-00031", "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 white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1658, "end_step": 1717, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers adjusting around the block."}, {"label": "goal", "start_step": 1693, "end_step": 1998, "id": "2e4ecfda-6391-416f-b27c-805c8e32f498"}, {"label": "subtasks", "start_step": 1718, "end_step": 1754, "id": "reasoning-language-00033", "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 white hexagonal block off the tabletop and moves it towards the wooden base with pegs."}, {"label": "subtasks", "start_step": 1755, "end_step": 1867, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the target peg on the wooden base and inserts it onto the peg."}, {"label": "subtasks", "start_step": 1868, "end_step": 1941, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses down the white hexagonal block along the peg to secure it in place."}, {"label": "subtasks", "start_step": 1942, "end_step": 1971, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases its grasp on the white hexagonal block on the peg."}, {"label": "subtasks", "start_step": 1972, "end_step": 1994, "id": "reasoning-language-00037", "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 wooden base after releasing the block."}, {"label": "subtasks", "start_step": 1995, "end_step": 2009, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical block on the wooden rack."}, {"label": "goal", "start_step": 1999, "end_step": 2130, "id": "5737df6f-5840-4eb6-8562-c459c1392cc4"}, {"label": "subtasks", "start_step": 2010, "end_step": 2031, "id": "reasoning-language-00039", "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 white hexagonal block on the tabletop."}, {"label": "subtasks", "start_step": 2032, "end_step": 2129, "id": "reasoning-language-00040", "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 white hexagonal block on the tabletop."}, {"label": "subtasks", "start_step": 2130, "end_step": 2151, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal ring from the black table surface."}, {"label": "goal", "start_step": 2131, "end_step": 2260, "id": "85d55454-6717-4279-9232-e59137837143"}, {"label": "subtasks", "start_step": 2152, "end_step": 2181, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal ring towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2182, "end_step": 2219, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal ring onto the purple rod."}, {"label": "subtasks", "start_step": 2220, "end_step": 2249, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal ring fitted on the purple rod."}, {"label": "subtasks", "start_step": 2250, "end_step": 2264, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats from the purple rod operating position."}, {"label": "goal", "start_step": 2261, "end_step": 2326, "id": "2024f8ac-8301-434e-b62a-dbfc32f7a60b"}, {"label": "subtasks", "start_step": 2265, "end_step": 2279, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal cap onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2280, "end_step": 2301, "id": "reasoning-language-00047", "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 white hexagonal cap on the black table surface."}, {"label": "subtasks", "start_step": 2302, "end_step": 2324, "id": "reasoning-language-00048", "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 white hexagonal cap on the black table surface."}, {"label": "subtasks", "start_step": 2325, "end_step": 2347, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the right side of the black table without moving."}, {"label": "goal", "start_step": 2327, "end_step": 2748, "id": "2cc5324a-9ad9-4cd2-8340-50f7f8d8e47a"}, {"label": "subtasks", "start_step": 2348, "end_step": 2369, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block towards the purple rod on the middle wooden base."}, {"label": "subtasks", "start_step": 2370, "end_step": 2744, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod on the wooden base, adjusting its position to complete the fitting."}, {"label": "subtasks", "start_step": 2745, "end_step": 2774, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white bottle placed on the wooden base."}, {"label": "goal", "start_step": 2749, "end_step": 2816, "id": "cf0f36e8-83ca-4315-a3c0-552db56fc524"}, {"label": "subtasks", "start_step": 2775, "end_step": 2811, "id": "reasoning-language-00053", "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 surface."}, {"label": "subtasks", "start_step": 2812, "end_step": 2834, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green block on the table surface."}, {"label": "goal", "start_step": 2817, "end_step": 2960, "id": "f3c828b7-5ec3-4400-95d5-bde846139f79"}, {"label": "subtasks", "start_step": 2835, "end_step": 2864, "id": "reasoning-language-00055", "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 green block and transports it to the top of the target white bottle on the wooden base."}, {"label": "subtasks", "start_step": 2865, "end_step": 2969, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green block onto the top of the target white bottle to complete assembly."}, {"label": "home", "start_step": 3011, "end_step": 3041, "id": "IWY007I0xYwGVBES9tWqt"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 51, "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 towards the green hexagonal block placed in front of the wooden peg base on the table."}, {"label": "subtasks", "start_step": 52, "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 adjusts its fingers to establish a stable grasp on the green hexagonal block on the table."}, {"label": "subtasks", "start_step": 135, "end_step": 157, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green block from the black table surface."}, {"label": "subtasks", "start_step": 158, "end_step": 187, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green block towards the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 188, "end_step": 209, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the hole of the green block with the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 210, "end_step": 299, "id": "reasoning-language-00006", "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 block down onto the leftmost purple peg to fit it in place."}, {"label": "subtasks", "start_step": 300, "end_step": 337, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the wooden base toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 338, "end_step": 374, "id": "reasoning-language-00008", "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 white hexagonal block on the table."}, {"label": "subtasks", "start_step": 375, "end_step": 389, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block off the table surface."}, {"label": "subtasks", "start_step": 390, "end_step": 404, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand carries the white hexagonal block to the position above the purple post on the wooden base."}, {"label": "subtasks", "start_step": 405, "end_step": 479, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple post and fits it onto the post."}, {"label": "subtasks", "start_step": 480, "end_step": 501, "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 white hexagonal block onto the purple pillar of the wooden base, until the block is stably supported."}, {"label": "subtasks", "start_step": 502, "end_step": 524, "id": "reasoning-language-00013", "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 white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 525, "end_step": 584, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to form a stable grip on the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 585, "end_step": 614, "id": "reasoning-language-00015", "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 white hexagonal block off the table and transports it to the position above the target purple post on the wooden base."}, {"label": "subtasks", "start_step": 615, "end_step": 644, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the target purple post on the wooden base."}, {"label": "subtasks", "start_step": 645, "end_step": 719, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block down onto the purple post until the block is stably supported by the post."}, {"label": "subtasks", "start_step": 720, "end_step": 741, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 742, "end_step": 787, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white cylindrical block on the table."}, {"label": "subtasks", "start_step": 788, "end_step": 801, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white cylindrical block on the table."}, {"label": "subtasks", "start_step": 802, "end_step": 817, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white cylindrical block off the table surface."}, {"label": "subtasks", "start_step": 818, "end_step": 1109, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand moves the white cylindrical block to the wooden base, aligns it with a purple peg and inserts it onto the peg."}, {"label": "subtasks", "start_step": 1110, "end_step": 1124, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical block on the purple peg."}, {"label": "subtasks", "start_step": 1125, "end_step": 1154, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the wooden peg base toward the green hexagonal block on the table."}, {"label": "subtasks", "start_step": 1155, "end_step": 1297, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand touches the green hexagonal block on the table and adjusts fingers to form a stable grasp."}, {"label": "subtasks", "start_step": 1298, "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: lift_transport: Right hand lifts the green block and transports it towards the wooden peg base."}, {"label": "subtasks", "start_step": 1335, "end_step": 1409, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green block onto a peg on the wooden base."}, {"label": "subtasks", "start_step": 1410, "end_step": 1447, "id": "reasoning-language-00028", "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 green block from the peg and transports it to another adjacent peg."}, {"label": "subtasks", "start_step": 1448, "end_step": 1604, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green block onto the target adjacent peg on the wooden base."}, {"label": "subtasks", "start_step": 1605, "end_step": 1634, "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 white cylindrical block onto the peg on the wooden base."}, {"label": "subtasks", "start_step": 1635, "end_step": 1657, "id": "reasoning-language-00031", "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 white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1658, "end_step": 1717, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers adjusting around the block."}, {"label": "subtasks", "start_step": 1718, "end_step": 1754, "id": "reasoning-language-00033", "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 white hexagonal block off the tabletop and moves it towards the wooden base with pegs."}, {"label": "subtasks", "start_step": 1755, "end_step": 1867, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the target peg on the wooden base and inserts it onto the peg."}, {"label": "subtasks", "start_step": 1868, "end_step": 1941, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses down the white hexagonal block along the peg to secure it in place."}, {"label": "subtasks", "start_step": 1942, "end_step": 1971, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases its grasp on the white hexagonal block on the peg."}, {"label": "subtasks", "start_step": 1972, "end_step": 1994, "id": "reasoning-language-00037", "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 wooden base after releasing the block."}, {"label": "subtasks", "start_step": 1995, "end_step": 2009, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical block on the wooden rack."}, {"label": "subtasks", "start_step": 2010, "end_step": 2031, "id": "reasoning-language-00039", "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 white hexagonal block on the tabletop."}, {"label": "subtasks", "start_step": 2032, "end_step": 2129, "id": "reasoning-language-00040", "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 white hexagonal block on the tabletop."}, {"label": "subtasks", "start_step": 2130, "end_step": 2151, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal ring from the black table surface."}, {"label": "subtasks", "start_step": 2152, "end_step": 2181, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal ring towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2182, "end_step": 2219, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal ring onto the purple rod."}, {"label": "subtasks", "start_step": 2220, "end_step": 2249, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal ring fitted on the purple rod."}, {"label": "subtasks", "start_step": 2250, "end_step": 2264, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats from the purple rod operating position."}, {"label": "subtasks", "start_step": 2265, "end_step": 2279, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal cap onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2280, "end_step": 2301, "id": "reasoning-language-00047", "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 white hexagonal cap on the black table surface."}, {"label": "subtasks", "start_step": 2302, "end_step": 2324, "id": "reasoning-language-00048", "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 white hexagonal cap on the black table surface."}, {"label": "subtasks", "start_step": 2325, "end_step": 2347, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the right side of the black table without moving."}, {"label": "subtasks", "start_step": 2348, "end_step": 2369, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block towards the purple rod on the middle wooden base."}, {"label": "subtasks", "start_step": 2370, "end_step": 2744, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod on the wooden base, adjusting its position to complete the fitting."}, {"label": "subtasks", "start_step": 2745, "end_step": 2774, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white bottle placed on the wooden base."}, {"label": "subtasks", "start_step": 2775, "end_step": 2811, "id": "reasoning-language-00053", "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 surface."}, {"label": "subtasks", "start_step": 2812, "end_step": 2834, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green block on the table surface."}, {"label": "subtasks", "start_step": 2835, "end_step": 2864, "id": "reasoning-language-00055", "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 green block and transports it to the top of the target white bottle on the wooden base."}, {"label": "subtasks", "start_step": 2865, "end_step": 2969, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green block onto the top of the target white bottle to complete assembly."}], "episode_index": 25}
+{"source_uid": "f25d403be0e7a6a5", "num_frames": 3135, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "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 side of the table without any observable movement. | Right hand: idle: Right hand remains empty at the right home position without any observable movement."}, {"label": "goal", "start_step": 0, "end_step": 172, "id": "5dc790fc-deea-4bc9-bda5-12c9917be0f5"}, {"label": "valid", "start_step": 0, "end_step": 3103, "id": "BGgDrLXB4sblR0k5kJKlf"}, {"label": "subtasks", "start_step": 60, "end_step": 111, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: reach: Right hand moves downward and leftward from the right home position toward the green hexagonal nut near the wooden block stand, remaining empty before contacting the target."}, {"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 any observable movement. | Right hand: grasp: Right hand closes fingers and adjusts wrist pose to establish grip on the green hexagonal nut near the wooden block stand, with the nut still resting on the table surface."}, {"label": "goal", "start_step": 173, "end_step": 352, "id": "5991f924-5693-40a6-8669-52363b3bec83"}, {"label": "subtasks", "start_step": 202, "end_step": 231, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block off the table surface, transporting it upward to a position directly above the target purple peg on the wooden board."}, {"label": "subtasks", "start_step": 232, "end_step": 277, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: mate: Right hand aligns the central hole of the held green hexagonal block with the target purple peg, lowering the block to fit onto the peg."}, {"label": "subtasks", "start_step": 278, "end_step": 344, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple peg of the wooden board with no observable movement or adjustment."}, {"label": "subtasks", "start_step": 345, "end_step": 367, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: place_release: Right hand holds the white hexagonal nut, moves downward to place it onto the top of the green block on the left peg, and opens fingers to release the nut and separate from it."}, {"label": "goal", "start_step": 353, "end_step": 418, "id": "fd855ba5-1ab1-4359-bab4-df5a77f7f25b"}, {"label": "subtasks", "start_step": 368, "end_step": 389, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: reach: Right hand moves downward toward the white hexagonal nut on the table surface while remaining empty, approaching the nut without establishing a grip."}, {"label": "subtasks", "start_step": 390, "end_step": 434, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, making small adjustments to finger position to form a stable grip while the nut remains on the table surface."}, {"label": "goal", "start_step": 419, "end_step": 618, "id": "65da990d-0a69-4de1-818a-921a9d488980"}, {"label": "subtasks", "start_step": 435, "end_step": 464, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the table surface and carries it upward to position directly above the target purple peg on the pegboard."}, {"label": "subtasks", "start_step": 465, "end_step": 614, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: mate: Right hand aligns the grasped white hexagonal nut with the purple peg, moves downward to fit the nut onto the peg, and makes slight alignment adjustments until the nut rests stably on the lower block by the end of the segment."}, {"label": "subtasks", "start_step": 615, "end_step": 637, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: mate_release: Right hand holds the white-capped green bottle, aligns it with the purple peg on the wooden base, presses it into the assembled position, opening fingers to release the bottle."}, {"label": "goal", "start_step": 619, "end_step": 696, "id": "fbc555bb-b716-4a16-8edb-629f52633f99"}, {"label": "subtasks", "start_step": 638, "end_step": 674, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: reach: Right hand moves downward through empty space toward the white hexagonal nut on the black table surface to approach the target."}, {"label": "subtasks", "start_step": 675, "end_step": 711, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, adjusting finger contact points to form a grip on the nut."}, {"label": "goal", "start_step": 697, "end_step": 1044, "id": "67e6f0f6-32ef-4386-8ef7-c5042d88adc0"}, {"label": "subtasks", "start_step": 712, "end_step": 741, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table surface and moves it upward to position directly above the target purple rod on the wooden assembly rack."}, {"label": "subtasks", "start_step": 742, "end_step": 921, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: mate: Right hand aligns the white hexagonal nut with the target purple rod, lowering it to fit over the rod and adjusting horizontal position to align with the green block below."}, {"label": "subtasks", "start_step": 922, "end_step": 981, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: reorient: Right hand rotates the white hexagonal nut slightly to correct its tilted orientation on the purple rod, with minimal horizontal movement."}, {"label": "subtasks", "start_step": 982, "end_step": 1034, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: press: Right hand applies downward pressure to the white hexagonal nut along the purple rod, pressing it down to seat onto the green block beneath."}, {"label": "subtasks", "start_step": 1035, "end_step": 1064, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: place: Right hand holds the white hexagonal block and positions it onto the top of the stacked structure on the wooden base until the block is stably supported."}, {"label": "goal", "start_step": 1045, "end_step": 1188, "id": "bd145c3d-cc95-4c32-a767-9ec60ae7be57"}, {"label": "subtasks", "start_step": 1065, "end_step": 1124, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: reach: Right hand moves downward empty from the stacked blocks toward the white hexagonal block resting on the table in front of the wooden base."}, {"label": "subtasks", "start_step": 1125, "end_step": 1214, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand closes fingers around the target white hexagonal block on the table, making fine adjustments to form a stable grasp."}, {"label": "goal", "start_step": 1189, "end_step": 1422, "id": "1acd9b58-0768-4a81-9d04-844e5d2e50fe"}, {"label": "subtasks", "start_step": 1215, "end_step": 1237, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface and moves it upward to position it directly above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1238, "end_step": 1409, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: mate: Right hand aligns the held white hexagonal block with the purple peg, makes small positional adjustments, and lowers the block to fit it onto the peg."}, {"label": "subtasks", "start_step": 1410, "end_step": 1439, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: release: Right hand releases the white cylindrical block placed on the purple peg, fingers opening to separate from the block."}, {"label": "goal", "start_step": 1423, "end_step": 1508, "id": "3481907b-b186-4c65-b059-b6590ec4f4e9"}, {"label": "subtasks", "start_step": 1440, "end_step": 1461, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: reach: Right hand moves downward empty toward the front green hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1462, "end_step": 1529, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand adjusts finger contact and closes fingers around the green hexagonal block on the table to establish a stable grip."}, {"label": "goal", "start_step": 1509, "end_step": 1716, "id": "316efebd-2c06-4b55-b500-ab55dd993e52"}, {"label": "subtasks", "start_step": 1530, "end_step": 1559, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the green hexagonal block completely off the table surface and moves it upward and leftward to position it directly above the empty purple peg on the wooden pegboard base."}, {"label": "subtasks", "start_step": 1560, "end_step": 1709, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: mate: Right hand makes small positional adjustments to the green hexagonal block to align its central hole with the purple peg, guiding the peg into the block's hole to achieve assembly alignment."}, {"label": "subtasks", "start_step": 1710, "end_step": 1724, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: place: Right hand lowers the aligned green hexagonal block down along the purple peg until the block rests stably on the surface of the wooden pegboard base."}, {"label": "goal", "start_step": 1717, "end_step": 1802, "id": "63f875b3-254e-4dda-a2ab-1eff4ee3e60c"}, {"label": "subtasks", "start_step": 1725, "end_step": 1731, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: press_release: Right hand presses the purple cylindrical peg on the green block of the wooden pegboard and releases contact with the peg."}, {"label": "subtasks", "start_step": 1732, "end_step": 1769, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: reach: Right hand moves empty downward toward the white hexagonal nut resting on the black table surface."}, {"label": "subtasks", "start_step": 1770, "end_step": 1821, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the black table surface, adjusting finger contact positions to establish a grip on the nut."}, {"label": "goal", "start_step": 1803, "end_step": 1952, "id": "96130011-fd77-4f9e-9118-bb5da9118b21"}, {"label": "subtasks", "start_step": 1822, "end_step": 1844, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table and moves it upward to the position above the purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 1845, "end_step": 1949, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple peg on the wooden base and moves it downward to fit the nut onto the peg."}, {"label": "subtasks", "start_step": 1950, "end_step": 2001, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: reach: Right hand moves downward from the stacked block assembly toward the closest white hexagonal block resting on the dark table surface."}, {"label": "goal", "start_step": 1953, "end_step": 2076, "id": "7370c9cc-0c1a-4021-ac2a-37ce1a774c24"}, {"label": "subtasks", "start_step": 2002, "end_step": 2054, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: grasp_lift: Right hand closes fingers around the white hexagonal block on the table to establish a stable grip, lifting the block a short distance upward to raise it completely off the dark table surface."}, {"label": "subtasks", "start_step": 2055, "end_step": 2069, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: hold: Right hand holds the lifted white hexagonal block stationary above the table surface with no observable movement of the hand or block."}, {"label": "subtasks", "start_step": 2070, "end_step": 2091, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand closes fingers to secure a stable grasp on the white hexagonal nut placed next to the wooden block tray."}, {"label": "goal", "start_step": 2077, "end_step": 2232, "id": "3d8c0a66-c205-421b-8bd0-d102d876a60c"}, {"label": "subtasks", "start_step": 2092, "end_step": 2137, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the black table surface and moves it upward to position directly above the purple rod on the wooden tray."}, {"label": "subtasks", "start_step": 2138, "end_step": 2159, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple rod and lowers the nut to fit onto the rod, establishing the mated connection."}, {"label": "subtasks", "start_step": 2160, "end_step": 2219, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: hold: Right hand holds the mated white hexagonal nut on the purple rod without any observable movement."}, {"label": "subtasks", "start_step": 2220, "end_step": 2249, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: release: Right hand releases the white cylindrical block on the front right of the wooden rack, with fingers opening to separate from the block."}, {"label": "goal", "start_step": 2233, "end_step": 2326, "id": "225d2a60-dc3a-4a2f-b505-2b82ae888057"}, {"label": "subtasks", "start_step": 2250, "end_step": 2271, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: reach: Right hand moves down and right toward the white hexagonal nut on the black table surface, remaining empty without contacting the nut during movement."}, {"label": "subtasks", "start_step": 2272, "end_step": 2347, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand adjusts finger positions around the white hexagonal nut on the table, closing fingers to establish contact and adjust grip on the nut."}, {"label": "goal", "start_step": 2327, "end_step": 2520, "id": "dc056ce3-b29d-4722-99f6-f94fba068842"}, {"label": "subtasks", "start_step": 2348, "end_step": 2384, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the dark table surface and moves it upward to the position above the purple post on the wooden block assembly."}, {"label": "subtasks", "start_step": 2385, "end_step": 2399, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple post on the wooden base and lowers it to fit onto the post."}, {"label": "subtasks", "start_step": 2400, "end_step": 2504, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: hold: Right hand holds the white hexagonal nut fitted on the purple post without any observable movement of the hand or the nut."}, {"label": "subtasks", "start_step": 2505, "end_step": 2519, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: release: Right hand opens its fingers to release the grasp on the white hexagonal nut seated on the purple post."}, {"label": "subtasks", "start_step": 2520, "end_step": 2534, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: retreat: Right hand moves away from the wooden block assembly with an empty hand after releasing the nut."}, {"label": "goal", "start_step": 2521, "end_step": 2588, "id": "b289d10b-3fc5-4480-8b3c-b6d66847ea00"}, {"label": "subtasks", "start_step": 2535, "end_step": 2571, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: reach: Right hand moves downward toward the small green cube on the black table surface, with fingers open and no contact with the cube."}, {"label": "subtasks", "start_step": 2572, "end_step": 2601, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand closes its fingers around the small green cube on the table to establish a stable grasp, while the cube remains on the table surface."}, {"label": "goal", "start_step": 2589, "end_step": 3070, "id": "8e0c1731-2904-4c74-ba05-c7ca2f3caaac"}, {"label": "subtasks", "start_step": 2602, "end_step": 2617, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: lift: Right hand lifts the grasped green cube upward until the cube is fully separated from the table surface."}, {"label": "subtasks", "start_step": 2618, "end_step": 2647, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: transport: Right hand moves the lifted green cube upward and leftward to position it above the target white cylindrical peg on the wooden base."}, {"label": "subtasks", "start_step": 2648, "end_step": 3044, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: mate: Right hand makes small positional adjustments and slight rotations to the green cube to align its central hole with the top of the target white peg, until the hole fits over the peg top."}, {"label": "subtasks", "start_step": 3045, "end_step": 3074, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: place: Right hand lowers the aligned green cube downward along the peg until the cube rests securely on the peg, supported by the peg surface."}, {"label": "home", "start_step": 3104, "end_step": 3134, "id": "ABmaXlZosH35ucXD7C_L0"}], "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 side of the table without any observable movement. | Right hand: idle: Right hand remains empty at the right home position without any observable movement."}, {"label": "subtasks", "start_step": 60, "end_step": 111, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: reach: Right hand moves downward and leftward from the right home position toward the green hexagonal nut near the wooden block stand, remaining empty before contacting the target."}, {"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 any observable movement. | Right hand: grasp: Right hand closes fingers and adjusts wrist pose to establish grip on the green hexagonal nut near the wooden block stand, with the nut still resting on the table surface."}, {"label": "subtasks", "start_step": 202, "end_step": 231, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block off the table surface, transporting it upward to a position directly above the target purple peg on the wooden board."}, {"label": "subtasks", "start_step": 232, "end_step": 277, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: mate: Right hand aligns the central hole of the held green hexagonal block with the target purple peg, lowering the block to fit onto the peg."}, {"label": "subtasks", "start_step": 278, "end_step": 344, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple peg of the wooden board with no observable movement or adjustment."}, {"label": "subtasks", "start_step": 345, "end_step": 367, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: place_release: Right hand holds the white hexagonal nut, moves downward to place it onto the top of the green block on the left peg, and opens fingers to release the nut and separate from it."}, {"label": "subtasks", "start_step": 368, "end_step": 389, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: reach: Right hand moves downward toward the white hexagonal nut on the table surface while remaining empty, approaching the nut without establishing a grip."}, {"label": "subtasks", "start_step": 390, "end_step": 434, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, making small adjustments to finger position to form a stable grip while the nut remains on the table surface."}, {"label": "subtasks", "start_step": 435, "end_step": 464, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the table surface and carries it upward to position directly above the target purple peg on the pegboard."}, {"label": "subtasks", "start_step": 465, "end_step": 614, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: mate: Right hand aligns the grasped white hexagonal nut with the purple peg, moves downward to fit the nut onto the peg, and makes slight alignment adjustments until the nut rests stably on the lower block by the end of the segment."}, {"label": "subtasks", "start_step": 615, "end_step": 637, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: mate_release: Right hand holds the white-capped green bottle, aligns it with the purple peg on the wooden base, presses it into the assembled position, opening fingers to release the bottle."}, {"label": "subtasks", "start_step": 638, "end_step": 674, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: reach: Right hand moves downward through empty space toward the white hexagonal nut on the black table surface to approach the target."}, {"label": "subtasks", "start_step": 675, "end_step": 711, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, adjusting finger contact points to form a grip on the nut."}, {"label": "subtasks", "start_step": 712, "end_step": 741, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table surface and moves it upward to position directly above the target purple rod on the wooden assembly rack."}, {"label": "subtasks", "start_step": 742, "end_step": 921, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: mate: Right hand aligns the white hexagonal nut with the target purple rod, lowering it to fit over the rod and adjusting horizontal position to align with the green block below."}, {"label": "subtasks", "start_step": 922, "end_step": 981, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: reorient: Right hand rotates the white hexagonal nut slightly to correct its tilted orientation on the purple rod, with minimal horizontal movement."}, {"label": "subtasks", "start_step": 982, "end_step": 1034, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: press: Right hand applies downward pressure to the white hexagonal nut along the purple rod, pressing it down to seat onto the green block beneath."}, {"label": "subtasks", "start_step": 1035, "end_step": 1064, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: place: Right hand holds the white hexagonal block and positions it onto the top of the stacked structure on the wooden base until the block is stably supported."}, {"label": "subtasks", "start_step": 1065, "end_step": 1124, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: reach: Right hand moves downward empty from the stacked blocks toward the white hexagonal block resting on the table in front of the wooden base."}, {"label": "subtasks", "start_step": 1125, "end_step": 1214, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand closes fingers around the target white hexagonal block on the table, making fine adjustments to form a stable grasp."}, {"label": "subtasks", "start_step": 1215, "end_step": 1237, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface and moves it upward to position it directly above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1238, "end_step": 1409, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: mate: Right hand aligns the held white hexagonal block with the purple peg, makes small positional adjustments, and lowers the block to fit it onto the peg."}, {"label": "subtasks", "start_step": 1410, "end_step": 1439, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: release: Right hand releases the white cylindrical block placed on the purple peg, fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 1440, "end_step": 1461, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: reach: Right hand moves downward empty toward the front green hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1462, "end_step": 1529, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand adjusts finger contact and closes fingers around the green hexagonal block on the table to establish a stable grip."}, {"label": "subtasks", "start_step": 1530, "end_step": 1559, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the green hexagonal block completely off the table surface and moves it upward and leftward to position it directly above the empty purple peg on the wooden pegboard base."}, {"label": "subtasks", "start_step": 1560, "end_step": 1709, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: mate: Right hand makes small positional adjustments to the green hexagonal block to align its central hole with the purple peg, guiding the peg into the block's hole to achieve assembly alignment."}, {"label": "subtasks", "start_step": 1710, "end_step": 1724, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: place: Right hand lowers the aligned green hexagonal block down along the purple peg until the block rests stably on the surface of the wooden pegboard base."}, {"label": "subtasks", "start_step": 1725, "end_step": 1731, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: press_release: Right hand presses the purple cylindrical peg on the green block of the wooden pegboard and releases contact with the peg."}, {"label": "subtasks", "start_step": 1732, "end_step": 1769, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: reach: Right hand moves empty downward toward the white hexagonal nut resting on the black table surface."}, {"label": "subtasks", "start_step": 1770, "end_step": 1821, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the black table surface, adjusting finger contact positions to establish a grip on the nut."}, {"label": "subtasks", "start_step": 1822, "end_step": 1844, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table and moves it upward to the position above the purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 1845, "end_step": 1949, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple peg on the wooden base and moves it downward to fit the nut onto the peg."}, {"label": "subtasks", "start_step": 1950, "end_step": 2001, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: reach: Right hand moves downward from the stacked block assembly toward the closest white hexagonal block resting on the dark table surface."}, {"label": "subtasks", "start_step": 2002, "end_step": 2054, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: grasp_lift: Right hand closes fingers around the white hexagonal block on the table to establish a stable grip, lifting the block a short distance upward to raise it completely off the dark table surface."}, {"label": "subtasks", "start_step": 2055, "end_step": 2069, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: hold: Right hand holds the lifted white hexagonal block stationary above the table surface with no observable movement of the hand or block."}, {"label": "subtasks", "start_step": 2070, "end_step": 2091, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand closes fingers to secure a stable grasp on the white hexagonal nut placed next to the wooden block tray."}, {"label": "subtasks", "start_step": 2092, "end_step": 2137, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the black table surface and moves it upward to position directly above the purple rod on the wooden tray."}, {"label": "subtasks", "start_step": 2138, "end_step": 2159, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple rod and lowers the nut to fit onto the rod, establishing the mated connection."}, {"label": "subtasks", "start_step": 2160, "end_step": 2219, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: hold: Right hand holds the mated white hexagonal nut on the purple rod without any observable movement."}, {"label": "subtasks", "start_step": 2220, "end_step": 2249, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: release: Right hand releases the white cylindrical block on the front right of the wooden rack, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 2250, "end_step": 2271, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: reach: Right hand moves down and right toward the white hexagonal nut on the black table surface, remaining empty without contacting the nut during movement."}, {"label": "subtasks", "start_step": 2272, "end_step": 2347, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand adjusts finger positions around the white hexagonal nut on the table, closing fingers to establish contact and adjust grip on the nut."}, {"label": "subtasks", "start_step": 2348, "end_step": 2384, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the dark table surface and moves it upward to the position above the purple post on the wooden block assembly."}, {"label": "subtasks", "start_step": 2385, "end_step": 2399, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple post on the wooden base and lowers it to fit onto the post."}, {"label": "subtasks", "start_step": 2400, "end_step": 2504, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: hold: Right hand holds the white hexagonal nut fitted on the purple post without any observable movement of the hand or the nut."}, {"label": "subtasks", "start_step": 2505, "end_step": 2519, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: release: Right hand opens its fingers to release the grasp on the white hexagonal nut seated on the purple post."}, {"label": "subtasks", "start_step": 2520, "end_step": 2534, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: retreat: Right hand moves away from the wooden block assembly with an empty hand after releasing the nut."}, {"label": "subtasks", "start_step": 2535, "end_step": 2571, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: reach: Right hand moves downward toward the small green cube on the black table surface, with fingers open and no contact with the cube."}, {"label": "subtasks", "start_step": 2572, "end_step": 2601, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand closes its fingers around the small green cube on the table to establish a stable grasp, while the cube remains on the table surface."}, {"label": "subtasks", "start_step": 2602, "end_step": 2617, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: lift: Right hand lifts the grasped green cube upward until the cube is fully separated from the table surface."}, {"label": "subtasks", "start_step": 2618, "end_step": 2647, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: transport: Right hand moves the lifted green cube upward and leftward to position it above the target white cylindrical peg on the wooden base."}, {"label": "subtasks", "start_step": 2648, "end_step": 3044, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: mate: Right hand makes small positional adjustments and slight rotations to the green cube to align its central hole with the top of the target white peg, until the hole fits over the peg top."}, {"label": "subtasks", "start_step": 3045, "end_step": 3074, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: place: Right hand lowers the aligned green cube downward along the peg until the cube rests securely on the peg, supported by the peg surface."}], "episode_index": 26}
+{"source_uid": "30a62f84e07d709d", "num_frames": 2167, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 44, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_hand_posture: Left hand rotates its wrist and spreads its fingers, remaining empty at the left side of the workspace without contacting any operating object. | Right hand: reach: Right hand moves leftward and downward from the right side of the workspace, approaching the green hexagonal block on the table with fingers open."}, {"label": "goal", "start_step": 0, "end_step": 154, "id": "1c305387-be7d-4635-83b1-1ea9702765ec"}, {"label": "valid", "start_step": 0, "end_step": 2133, "id": "xwLcZRO2P4siBQjbiNtKx"}, {"label": "subtasks", "start_step": 45, "end_step": 74, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the workspace. | Right hand: reach: Right hand moves leftward and downward from the right side of the workspace, approaching the green hexagonal block on the table with fingers open."}, {"label": "subtasks", "start_step": 75, "end_step": 104, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the workspace. | Right hand: grasp: Right hand closes its fingers to grasp the green hexagonal block on the black table surface, with slight finger position adjustment."}, {"label": "subtasks", "start_step": 105, "end_step": 149, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the workspace. | Right hand: hold: Right hand holds the green hexagonal block on the table surface without any movement."}, {"label": "subtasks", "start_step": 150, "end_step": 179, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the workspace. | Right hand: grasp: Right hand grasps the green hexagonal block with a hole on the black table surface, with fingers closing to form a stable grip."}, {"label": "goal", "start_step": 155, "end_step": 328, "id": "bdbb5694-b3a9-450a-894c-2b9aac1deb74"}, {"label": "subtasks", "start_step": 180, "end_step": 187, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the workspace. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and moves it to the position above the leftmost purple peg of the wooden board."}, {"label": "subtasks", "start_step": 188, "end_step": 217, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the workspace. | Right hand: mate: Right hand mates the green hexagonal block onto the leftmost purple peg of the wooden board by lowering it along the peg."}, {"label": "subtasks", "start_step": 218, "end_step": 314, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the workspace. | Right hand: hold: Right hand holds the green hexagonal block on the leftmost purple peg of the wooden board without moving."}, {"label": "subtasks", "start_step": 315, "end_step": 337, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the workspace. | Right hand: release: Right hand releases the white annular part fitted on the purple peg of the wooden base."}, {"label": "goal", "start_step": 329, "end_step": 402, "id": "51e6e8fa-0c17-4bb1-802e-a79351033141"}, {"label": "subtasks", "start_step": 338, "end_step": 359, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the workspace. | Right hand: reach: Right hand moves downward toward the white hexagonal part on the black table surface."}, {"label": "subtasks", "start_step": 360, "end_step": 427, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the workspace. | Right hand: grasp: Right hand grasps the white hexagonal part on the black table surface with fingers closing and adjusting around it."}, {"label": "goal", "start_step": 403, "end_step": 548, "id": "ae83f26b-039d-4c4d-a3fe-6cb5c4154d9a"}, {"label": "subtasks", "start_step": 428, "end_step": 441, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the workspace. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table and transports it upward and rightward to position above the leftmost peg of the wooden rack."}, {"label": "subtasks", "start_step": 442, "end_step": 509, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the workspace. | Right hand: mate: Right hand aligns the white hexagonal nut with the leftmost green peg on the wooden rack and lowers it onto the peg to complete the assembly fit."}, {"label": "subtasks", "start_step": 510, "end_step": 539, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the workspace. | Right hand: release: Right hand gradually opens its fingers to release the white hexagonal nut from its grasp, while remaining positioned above the leftmost peg."}, {"label": "subtasks", "start_step": 540, "end_step": 569, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the workspace. | Right hand: place_release: Right hand places the white hexagonal block onto the purple peg of the wooden rack and releases the block."}, {"label": "goal", "start_step": 549, "end_step": 624, "id": "2aa3b074-5983-46a2-becd-f233fdaeaf23"}, {"label": "subtasks", "start_step": 570, "end_step": 584, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the workspace. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 585, "end_step": 614, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the workspace. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, with fingers closing and adjusting to stabilize the grip."}, {"label": "subtasks", "start_step": 615, "end_step": 644, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the workspace. | Right hand: hold: Right hand holds the white hexagonal block on the front part of the black table without moving."}, {"label": "goal", "start_step": 625, "end_step": 778, "id": "058ab70d-b17f-4606-ace3-54b06bc9dbf1"}, {"label": "subtasks", "start_step": 645, "end_step": 659, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the workspace. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it above the front-left test tube of the wooden test tube rack."}, {"label": "subtasks", "start_step": 660, "end_step": 741, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the workspace. | Right hand: mate: Right hand mates the white hexagonal block onto the front-left test tube by aligning the central hole with the test tube and lowering the block until it fits in place."}, {"label": "subtasks", "start_step": 742, "end_step": 764, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the workspace. | Right hand: hold: Right hand holds the white hexagonal block on the front-left test tube without moving."}, {"label": "subtasks", "start_step": 765, "end_step": 787, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the workspace. | Right hand: place_release: Right hand places the white cylindrical block onto the leftmost peg of the wooden base and releases the block with fingers opening."}, {"label": "goal", "start_step": 779, "end_step": 862, "id": "ccb22992-f37e-4d7b-9c62-e127ed9f7b6c"}, {"label": "subtasks", "start_step": 788, "end_step": 817, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the workspace. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table in front of the wooden base."}, {"label": "subtasks", "start_step": 818, "end_step": 831, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the workspace. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing around the block."}, {"label": "subtasks", "start_step": 832, "end_step": 854, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the workspace. | Right hand: hold: Right hand holds the white hexagonal block on the black table without moving."}, {"label": "subtasks", "start_step": 855, "end_step": 884, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the workspace. | Right hand: grasp: Right hand grasps the white hexagonal object on the black table surface, with fingers closing to form a stable grip while the object stays on the table."}, {"label": "goal", "start_step": 863, "end_step": 1082, "id": "dfad4b1c-0d71-4a77-906f-111c9880bf6a"}, {"label": "subtasks", "start_step": 885, "end_step": 899, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the workspace. | Right hand: lift_transport: Right hand lifts the white hexagonal object off the table and transports it upward to above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 900, "end_step": 1049, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the workspace. | Right hand: mate_release: Right hand aligns the white hexagonal object with the purple peg, fits it down onto the peg to complete assembly, and releases the object with opening fingers."}, {"label": "subtasks", "start_step": 1050, "end_step": 1079, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the workspace. | Right hand: idle: Right hand remains empty above the wooden base without moving."}, {"label": "subtasks", "start_step": 1080, "end_step": 1101, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the workspace. | Right hand: reach: Right hand moves downward from the pegboard area toward the green hexagonal part on the black table surface."}, {"label": "goal", "start_step": 1083, "end_step": 1136, "id": "d7cd4d44-b7cb-4b13-b0e3-5c4ee02b18a2"}, {"label": "subtasks", "start_step": 1102, "end_step": 1124, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the workspace. | Right hand: grasp: Right hand grasps the green hexagonal part on the table with fingers closing to form a stable grip."}, {"label": "subtasks", "start_step": 1125, "end_step": 1147, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the workspace. | Right hand: hold: Right hand holds the green hexagonal part on the table surface without moving."}, {"label": "goal", "start_step": 1137, "end_step": 1294, "id": "567768dd-955c-4099-b595-9384f8c7052f"}, {"label": "subtasks", "start_step": 1148, "end_step": 1177, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the workspace. | Right hand: lift_transport: Right hand lifts the green hexagonal part off the table and transports it upward to the position above the middle purple peg of the pegboard."}, {"label": "subtasks", "start_step": 1178, "end_step": 1289, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the workspace. | Right hand: place: Right hand places the green hexagonal part down along the middle purple peg until it rests on the white cylindrical part below."}, {"label": "subtasks", "start_step": 1290, "end_step": 1311, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the workspace. | Right hand: mate_release: Right hand mates the white hexagonal sleeve onto the purple peg of the block set and releases it."}, {"label": "goal", "start_step": 1295, "end_step": 1372, "id": "280fc185-7bf6-44a9-96cf-caf7c0d9062e"}, {"label": "subtasks", "start_step": 1312, "end_step": 1334, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the workspace. | Right hand: reach: Right hand moves downward toward the white hexagonal sleeve on the table."}, {"label": "subtasks", "start_step": 1335, "end_step": 1364, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the workspace. | Right hand: idle: Right hand remains empty above the white hexagonal sleeve on the table without moving."}, {"label": "subtasks", "start_step": 1365, "end_step": 1394, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the workspace. | Right hand: grasp: Right hand grasps the white hexagonal hollow part on the bottom right of the black table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 1373, "end_step": 1524, "id": "5d320093-b66f-40e4-b5bc-d2b75e798ac7"}, {"label": "subtasks", "start_step": 1395, "end_step": 1417, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the workspace. | Right hand: lift_transport: Right hand lifts the white hexagonal hollow part off the table and transports it upward and leftward to the top of the rightmost peg on the wooden base."}, {"label": "subtasks", "start_step": 1418, "end_step": 1484, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the workspace. | Right hand: mate: Right hand aligns the white hexagonal hollow part with the rightmost peg and moves it downward to fit the part onto the peg."}, {"label": "subtasks", "start_step": 1485, "end_step": 1514, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the workspace. | Right hand: hold: Right hand holds the white hexagonal hollow part that is fitted on the rightmost peg without moving."}, {"label": "subtasks", "start_step": 1515, "end_step": 1537, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the workspace. | Right hand: release: Right hand releases the white cylindrical sleeve on the purple peg of the wooden base, with fingers opening gradually to separate from the object."}, {"label": "goal", "start_step": 1525, "end_step": 1590, "id": "ad2b86d4-f9f5-4510-bb1c-89f8a6c60082"}, {"label": "subtasks", "start_step": 1538, "end_step": 1574, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the workspace. | Right hand: reach: Right hand moves downward and rightward toward the white hexagonal block on the black table, with fingers kept open."}, {"label": "subtasks", "start_step": 1575, "end_step": 1604, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the workspace. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, with fingers closing around the block to form a stable grip."}, {"label": "goal", "start_step": 1591, "end_step": 1724, "id": "a7375b6f-a578-405e-ab23-dedfb1fda8c7"}, {"label": "subtasks", "start_step": 1605, "end_step": 1627, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the workspace. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1628, "end_step": 1641, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the workspace. | Right hand: mate: Right hand mates the white hexagonal block with the top of the purple rod by aligning its hole with the rod."}, {"label": "subtasks", "start_step": 1642, "end_step": 1724, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the workspace. | Right hand: place_release: Right hand slides the white hexagonal block down the purple rod onto the wooden base and releases the block."}, {"label": "subtasks", "start_step": 1725, "end_step": 1747, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the workspace. | Right hand: mate: Right hand mates the white cylindrical block onto the purple rod in the rightmost column of the wooden base, adjusting the block position to fit properly."}, {"label": "goal", "start_step": 1725, "end_step": 1796, "id": "7d477d61-df25-4c17-bfa6-09cdc4c6503b"}, {"label": "subtasks", "start_step": 1748, "end_step": 1799, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the workspace. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table surface next to the green block."}, {"label": "goal", "start_step": 1797, "end_step": 1930, "id": "ee1d0b3f-d5bc-4abd-8004-636b2d565590"}, {"label": "subtasks", "start_step": 1800, "end_step": 1814, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the workspace. | Right hand: grasp: Right hand grasps the white hexagonal block on the table surface with fingers closing around the block."}, {"label": "subtasks", "start_step": 1815, "end_step": 1837, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the workspace. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table surface and transports it upward to the purple rod in the rightmost column of the wooden base."}, {"label": "subtasks", "start_step": 1838, "end_step": 1919, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the workspace. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod in the rightmost column of the wooden base, adjusting its position to complete the assembly."}, {"label": "subtasks", "start_step": 1920, "end_step": 1949, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the workspace. | Right hand: place_release: Right hand places the white hollow cylindrical object onto the purple peg of the wooden rack and releases its grip."}, {"label": "goal", "start_step": 1931, "end_step": 1996, "id": "7be61a3e-3288-4e79-9a17-dbc670a30582"}, {"label": "subtasks", "start_step": 1950, "end_step": 1987, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the workspace. | Right hand: reach: Right hand moves downward toward the green square block on the table surface."}, {"label": "subtasks", "start_step": 1988, "end_step": 2024, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the workspace. | Right hand: grasp: Right hand grasps the green square block on the table surface with fingers closing."}, {"label": "goal", "start_step": 1997, "end_step": 2086, "id": "08ce9776-c066-4916-9d36-e3e17efba962"}, {"label": "subtasks", "start_step": 2025, "end_step": 2039, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the workspace. | Right hand: lift: Right hand lifts the green square block upward until it completely leaves the table surface."}, {"label": "subtasks", "start_step": 2040, "end_step": 2061, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the workspace. | Right hand: transport: Right hand transports the green square block leftward to the position above the rightmost white post on the wooden base."}, {"label": "subtasks", "start_step": 2062, "end_step": 2084, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the workspace. | Right hand: mate: Right hand aligns the hole of the green square block with the rightmost white post and fits the block down onto the post."}, {"label": "subtasks", "start_step": 2085, "end_step": 2099, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the workspace. | Right hand: release: Right hand releases the green square block on the post, with fingers opening to separate from the block."}, {"label": "home", "start_step": 2134, "end_step": 2166, "id": "NA-i_0x8EOSvJrbGCU3qu"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 44, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_hand_posture: Left hand rotates its wrist and spreads its fingers, remaining empty at the left side of the workspace without contacting any operating object. | Right hand: reach: Right hand moves leftward and downward from the right side of the workspace, approaching the green hexagonal block on the table with fingers open."}, {"label": "subtasks", "start_step": 45, "end_step": 74, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the workspace. | Right hand: reach: Right hand moves leftward and downward from the right side of the workspace, approaching the green hexagonal block on the table with fingers open."}, {"label": "subtasks", "start_step": 75, "end_step": 104, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the workspace. | Right hand: grasp: Right hand closes its fingers to grasp the green hexagonal block on the black table surface, with slight finger position adjustment."}, {"label": "subtasks", "start_step": 105, "end_step": 149, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the workspace. | Right hand: hold: Right hand holds the green hexagonal block on the table surface without any movement."}, {"label": "subtasks", "start_step": 150, "end_step": 179, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the workspace. | Right hand: grasp: Right hand grasps the green hexagonal block with a hole on the black table surface, with fingers closing to form a stable grip."}, {"label": "subtasks", "start_step": 180, "end_step": 187, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the workspace. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and moves it to the position above the leftmost purple peg of the wooden board."}, {"label": "subtasks", "start_step": 188, "end_step": 217, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the workspace. | Right hand: mate: Right hand mates the green hexagonal block onto the leftmost purple peg of the wooden board by lowering it along the peg."}, {"label": "subtasks", "start_step": 218, "end_step": 314, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the workspace. | Right hand: hold: Right hand holds the green hexagonal block on the leftmost purple peg of the wooden board without moving."}, {"label": "subtasks", "start_step": 315, "end_step": 337, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the workspace. | Right hand: release: Right hand releases the white annular part fitted on the purple peg of the wooden base."}, {"label": "subtasks", "start_step": 338, "end_step": 359, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the workspace. | Right hand: reach: Right hand moves downward toward the white hexagonal part on the black table surface."}, {"label": "subtasks", "start_step": 360, "end_step": 427, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the workspace. | Right hand: grasp: Right hand grasps the white hexagonal part on the black table surface with fingers closing and adjusting around it."}, {"label": "subtasks", "start_step": 428, "end_step": 441, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the workspace. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table and transports it upward and rightward to position above the leftmost peg of the wooden rack."}, {"label": "subtasks", "start_step": 442, "end_step": 509, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the workspace. | Right hand: mate: Right hand aligns the white hexagonal nut with the leftmost green peg on the wooden rack and lowers it onto the peg to complete the assembly fit."}, {"label": "subtasks", "start_step": 510, "end_step": 539, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the workspace. | Right hand: release: Right hand gradually opens its fingers to release the white hexagonal nut from its grasp, while remaining positioned above the leftmost peg."}, {"label": "subtasks", "start_step": 540, "end_step": 569, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the workspace. | Right hand: place_release: Right hand places the white hexagonal block onto the purple peg of the wooden rack and releases the block."}, {"label": "subtasks", "start_step": 570, "end_step": 584, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the workspace. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 585, "end_step": 614, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the workspace. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, with fingers closing and adjusting to stabilize the grip."}, {"label": "subtasks", "start_step": 615, "end_step": 644, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the workspace. | Right hand: hold: Right hand holds the white hexagonal block on the front part of the black table without moving."}, {"label": "subtasks", "start_step": 645, "end_step": 659, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the workspace. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it above the front-left test tube of the wooden test tube rack."}, {"label": "subtasks", "start_step": 660, "end_step": 741, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the workspace. | Right hand: mate: Right hand mates the white hexagonal block onto the front-left test tube by aligning the central hole with the test tube and lowering the block until it fits in place."}, {"label": "subtasks", "start_step": 742, "end_step": 764, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the workspace. | Right hand: hold: Right hand holds the white hexagonal block on the front-left test tube without moving."}, {"label": "subtasks", "start_step": 765, "end_step": 787, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the workspace. | Right hand: place_release: Right hand places the white cylindrical block onto the leftmost peg of the wooden base and releases the block with fingers opening."}, {"label": "subtasks", "start_step": 788, "end_step": 817, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the workspace. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table in front of the wooden base."}, {"label": "subtasks", "start_step": 818, "end_step": 831, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the workspace. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing around the block."}, {"label": "subtasks", "start_step": 832, "end_step": 854, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the workspace. | Right hand: hold: Right hand holds the white hexagonal block on the black table without moving."}, {"label": "subtasks", "start_step": 855, "end_step": 884, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the workspace. | Right hand: grasp: Right hand grasps the white hexagonal object on the black table surface, with fingers closing to form a stable grip while the object stays on the table."}, {"label": "subtasks", "start_step": 885, "end_step": 899, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the workspace. | Right hand: lift_transport: Right hand lifts the white hexagonal object off the table and transports it upward to above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 900, "end_step": 1049, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the workspace. | Right hand: mate_release: Right hand aligns the white hexagonal object with the purple peg, fits it down onto the peg to complete assembly, and releases the object with opening fingers."}, {"label": "subtasks", "start_step": 1050, "end_step": 1079, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the workspace. | Right hand: idle: Right hand remains empty above the wooden base without moving."}, {"label": "subtasks", "start_step": 1080, "end_step": 1101, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the workspace. | Right hand: reach: Right hand moves downward from the pegboard area toward the green hexagonal part on the black table surface."}, {"label": "subtasks", "start_step": 1102, "end_step": 1124, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the workspace. | Right hand: grasp: Right hand grasps the green hexagonal part on the table with fingers closing to form a stable grip."}, {"label": "subtasks", "start_step": 1125, "end_step": 1147, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the workspace. | Right hand: hold: Right hand holds the green hexagonal part on the table surface without moving."}, {"label": "subtasks", "start_step": 1148, "end_step": 1177, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the workspace. | Right hand: lift_transport: Right hand lifts the green hexagonal part off the table and transports it upward to the position above the middle purple peg of the pegboard."}, {"label": "subtasks", "start_step": 1178, "end_step": 1289, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the workspace. | Right hand: place: Right hand places the green hexagonal part down along the middle purple peg until it rests on the white cylindrical part below."}, {"label": "subtasks", "start_step": 1290, "end_step": 1311, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the workspace. | Right hand: mate_release: Right hand mates the white hexagonal sleeve onto the purple peg of the block set and releases it."}, {"label": "subtasks", "start_step": 1312, "end_step": 1334, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the workspace. | Right hand: reach: Right hand moves downward toward the white hexagonal sleeve on the table."}, {"label": "subtasks", "start_step": 1335, "end_step": 1364, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the workspace. | Right hand: idle: Right hand remains empty above the white hexagonal sleeve on the table without moving."}, {"label": "subtasks", "start_step": 1365, "end_step": 1394, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the workspace. | Right hand: grasp: Right hand grasps the white hexagonal hollow part on the bottom right of the black table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1395, "end_step": 1417, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the workspace. | Right hand: lift_transport: Right hand lifts the white hexagonal hollow part off the table and transports it upward and leftward to the top of the rightmost peg on the wooden base."}, {"label": "subtasks", "start_step": 1418, "end_step": 1484, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the workspace. | Right hand: mate: Right hand aligns the white hexagonal hollow part with the rightmost peg and moves it downward to fit the part onto the peg."}, {"label": "subtasks", "start_step": 1485, "end_step": 1514, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the workspace. | Right hand: hold: Right hand holds the white hexagonal hollow part that is fitted on the rightmost peg without moving."}, {"label": "subtasks", "start_step": 1515, "end_step": 1537, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the workspace. | Right hand: release: Right hand releases the white cylindrical sleeve on the purple peg of the wooden base, with fingers opening gradually to separate from the object."}, {"label": "subtasks", "start_step": 1538, "end_step": 1574, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the workspace. | Right hand: reach: Right hand moves downward and rightward toward the white hexagonal block on the black table, with fingers kept open."}, {"label": "subtasks", "start_step": 1575, "end_step": 1604, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the workspace. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, with fingers closing around the block to form a stable grip."}, {"label": "subtasks", "start_step": 1605, "end_step": 1627, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the workspace. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1628, "end_step": 1641, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the workspace. | Right hand: mate: Right hand mates the white hexagonal block with the top of the purple rod by aligning its hole with the rod."}, {"label": "subtasks", "start_step": 1642, "end_step": 1724, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the workspace. | Right hand: place_release: Right hand slides the white hexagonal block down the purple rod onto the wooden base and releases the block."}, {"label": "subtasks", "start_step": 1725, "end_step": 1747, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the workspace. | Right hand: mate: Right hand mates the white cylindrical block onto the purple rod in the rightmost column of the wooden base, adjusting the block position to fit properly."}, {"label": "subtasks", "start_step": 1748, "end_step": 1799, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the workspace. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table surface next to the green block."}, {"label": "subtasks", "start_step": 1800, "end_step": 1814, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the workspace. | Right hand: grasp: Right hand grasps the white hexagonal block on the table surface with fingers closing around the block."}, {"label": "subtasks", "start_step": 1815, "end_step": 1837, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the workspace. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table surface and transports it upward to the purple rod in the rightmost column of the wooden base."}, {"label": "subtasks", "start_step": 1838, "end_step": 1919, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the workspace. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod in the rightmost column of the wooden base, adjusting its position to complete the assembly."}, {"label": "subtasks", "start_step": 1920, "end_step": 1949, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the workspace. | Right hand: place_release: Right hand places the white hollow cylindrical object onto the purple peg of the wooden rack and releases its grip."}, {"label": "subtasks", "start_step": 1950, "end_step": 1987, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the workspace. | Right hand: reach: Right hand moves downward toward the green square block on the table surface."}, {"label": "subtasks", "start_step": 1988, "end_step": 2024, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the workspace. | Right hand: grasp: Right hand grasps the green square block on the table surface with fingers closing."}, {"label": "subtasks", "start_step": 2025, "end_step": 2039, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the workspace. | Right hand: lift: Right hand lifts the green square block upward until it completely leaves the table surface."}, {"label": "subtasks", "start_step": 2040, "end_step": 2061, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the workspace. | Right hand: transport: Right hand transports the green square block leftward to the position above the rightmost white post on the wooden base."}, {"label": "subtasks", "start_step": 2062, "end_step": 2084, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the workspace. | Right hand: mate: Right hand aligns the hole of the green square block with the rightmost white post and fits the block down onto the post."}, {"label": "subtasks", "start_step": 2085, "end_step": 2099, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the workspace. | Right hand: release: Right hand releases the green square block on the post, with fingers opening to separate from the block."}], "episode_index": 27}
+{"source_uid": "962f77fa3f0c99db", "num_frames": 2375, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 37, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_position: Left hand moves slightly forward to adjust its position at the left side of the table. | Right hand: reach: Right hand moves forward towards the green hexagonal block on the black table in front of the wooden peg base."}, {"label": "goal", "start_step": 0, "end_step": 162, "id": "129edb08-830d-46be-9d2d-74a5f8d0cb45"}, {"label": "valid", "start_step": 0, "end_step": 2341, "id": "aCHZvVelhJhBOiWpnJn6e"}, {"label": "subtasks", "start_step": 38, "end_step": 74, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves forward towards the green hexagonal block on the black table in front of the wooden peg base."}, {"label": "subtasks", "start_step": 75, "end_step": 97, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand closes its fingers to form a stable grasp on the green hexagonal block."}, {"label": "subtasks", "start_step": 98, "end_step": 149, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: hold: Right hand holds the green hexagonal block without any movement."}, {"label": "subtasks", "start_step": 150, "end_step": 179, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand grasps the green block on the black table, adjusting fingers to form stable grip."}, {"label": "goal", "start_step": 163, "end_step": 316, "id": "6201afe1-614c-4c82-8311-24c0126eaabd"}, {"label": "subtasks", "start_step": 180, "end_step": 194, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it to the top of the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 195, "end_step": 337, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand mates the green block with the purple rod on the wooden base by inserting it down onto the rod."}, {"label": "goal", "start_step": 317, "end_step": 398, "id": "935362f3-d90b-42fd-90b2-c32719d2942a"}, {"label": "subtasks", "start_step": 338, "end_step": 359, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 360, "end_step": 419, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand grasps the white hexagonal block on the black tabletop, adjusting fingers to form stable contact."}, {"label": "goal", "start_step": 399, "end_step": 562, "id": "9024b2cf-8e93-4fcb-9fa0-e295958bc386"}, {"label": "subtasks", "start_step": 420, "end_step": 441, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal block and transports it to the top of the leftmost purple rod on the wooden base."}, {"label": "subtasks", "start_step": 442, "end_step": 561, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand mates the white hexagonal block onto the leftmost purple rod by pushing it down along the rod."}, {"label": "subtasks", "start_step": 562, "end_step": 569, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: release: Right hand releases the white hexagonal block after it is installed on the rod."}, {"label": "goal", "start_step": 563, "end_step": 638, "id": "c2a42a5d-264e-4873-b08f-d052e76ac5e2"}, {"label": "subtasks", "start_step": 570, "end_step": 584, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand mates the white hexagonal block onto the leftmost purple rod by pushing it down along the rod."}, {"label": "subtasks", "start_step": 585, "end_step": 621, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand reaches downwards towards the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 622, "end_step": 659, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table."}, {"label": "goal", "start_step": 639, "end_step": 848, "id": "a49242da-be9c-4615-8b75-2c40da1c78af"}, {"label": "subtasks", "start_step": 660, "end_step": 689, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it to the position above the leftmost purple post on the wooden base."}, {"label": "subtasks", "start_step": 690, "end_step": 839, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand aligns the white hexagonal block with the leftmost purple post and inserts it onto the post."}, {"label": "subtasks", "start_step": 840, "end_step": 847, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: release: Right hand releases the white hexagonal block that is fitted on the purple post."}, {"label": "subtasks", "start_step": 848, "end_step": 861, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand mates the white cylindrical ring onto the top of the purple peg on the wooden base."}, {"label": "goal", "start_step": 849, "end_step": 920, "id": "eb7e7bd9-b2d4-47cc-b07f-29be73880993"}, {"label": "subtasks", "start_step": 862, "end_step": 884, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 885, "end_step": 937, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand contacts the white hexagonal block on the table and adjusts fingers to form a stable grasp."}, {"label": "goal", "start_step": 921, "end_step": 1062, "id": "eae56765-88f6-46f9-91e6-bcd44143f22d"}, {"label": "subtasks", "start_step": 938, "end_step": 959, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it to the top of the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 960, "end_step": 1049, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod by inserting the rod into the central hole of the block."}, {"label": "subtasks", "start_step": 1050, "end_step": 1079, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: place_release: Right hand places and releases the white ring onto the purple peg on the wooden base."}, {"label": "goal", "start_step": 1063, "end_step": 1144, "id": "fce294c7-012f-451b-9c34-c0fc849dc4ff"}, {"label": "subtasks", "start_step": 1080, "end_step": 1139, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the table."}, {"label": "subtasks", "start_step": 1140, "end_step": 1169, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table."}, {"label": "goal", "start_step": 1145, "end_step": 1274, "id": "f87ff403-2064-4a44-b777-fda3a6e0e5e3"}, {"label": "subtasks", "start_step": 1170, "end_step": 1191, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table and transports it towards the wooden peg base."}, {"label": "subtasks", "start_step": 1192, "end_step": 1274, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand mates the green hexagonal block onto the target peg on the wooden base."}, {"label": "subtasks", "start_step": 1275, "end_step": 1297, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: release: Right hand releases the white hexagonal block on the wooden base peg."}, {"label": "goal", "start_step": 1275, "end_step": 1346, "id": "106f369f-8a53-4e01-a2e4-d951d0580b0b"}, {"label": "subtasks", "start_step": 1298, "end_step": 1327, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves downwards towards the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1328, "end_step": 1364, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table surface."}, {"label": "goal", "start_step": 1347, "end_step": 1500, "id": "9c024a01-4eb8-4349-8106-7abf34a714a1"}, {"label": "subtasks", "start_step": 1365, "end_step": 1387, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and moves it towards the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1388, "end_step": 1477, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg and inserts it downwards onto the peg."}, {"label": "subtasks", "start_step": 1478, "end_step": 1499, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: release: Right hand releases the white hexagonal block from its grasp."}, {"label": "subtasks", "start_step": 1500, "end_step": 1529, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: place_release: Right hand places the white cylindrical block onto the peg of the wooden base and releases the block."}, {"label": "goal", "start_step": 1501, "end_step": 1602, "id": "a63efa1a-cbe2-4cf3-a23a-eccf6f42d9a5"}, {"label": "subtasks", "start_step": 1530, "end_step": 1551, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1552, "end_step": 1619, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the black table surface."}, {"label": "goal", "start_step": 1603, "end_step": 1884, "id": "82317fdb-639e-47f8-a04a-176529edb03a"}, {"label": "subtasks", "start_step": 1620, "end_step": 1664, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it to the upper position of the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1665, "end_step": 1747, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod by aligning and inserting it."}, {"label": "subtasks", "start_step": 1748, "end_step": 1867, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: hold: Right hand holds the white hexagonal block on the purple rod without obvious movement."}, {"label": "subtasks", "start_step": 1868, "end_step": 1874, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: release: Right hand releases the white hexagonal block, which slides down to the bottom of the purple rod."}, {"label": "subtasks", "start_step": 1875, "end_step": 1904, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: place: Right hand places the white hexagonal block onto the peg of the wooden base and adjusts it to be stably supported."}, {"label": "goal", "start_step": 1885, "end_step": 1956, "id": "bf770b5b-7e70-4c90-b23c-545f90263ad0"}, {"label": "subtasks", "start_step": 1905, "end_step": 1941, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves downward towards the white hexagonal block placed on the black table surface."}, {"label": "subtasks", "start_step": 1942, "end_step": 1979, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the black table surface."}, {"label": "goal", "start_step": 1957, "end_step": 2084, "id": "d8318106-7d5f-4517-9eed-b3ead063f453"}, {"label": "subtasks", "start_step": 1980, "end_step": 2001, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the tabletop and moves it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2002, "end_step": 2054, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and fits it onto the rod."}, {"label": "subtasks", "start_step": 2055, "end_step": 2084, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: release: Right hand releases the white hexagonal block, fingers open to separate from the block."}, {"label": "subtasks", "start_step": 2085, "end_step": 2129, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves downward towards the green block placed on the black table surface."}, {"label": "goal", "start_step": 2085, "end_step": 2154, "id": "df66bd17-7fe5-44e5-aca5-1be629992c35"}, {"label": "subtasks", "start_step": 2130, "end_step": 2167, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand closes its fingers to form a stable grasp around the green block on the table."}, {"label": "goal", "start_step": 2155, "end_step": 2302, "id": "9f0e6b64-a7cb-4848-958c-bee6666ef290"}, {"label": "subtasks", "start_step": 2168, "end_step": 2181, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift: Right hand lifts the grasped green block completely off the table surface."}, {"label": "subtasks", "start_step": 2182, "end_step": 2197, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: transport: Right hand carries the green block to the top area of the rightmost white bottle on the wooden base."}, {"label": "subtasks", "start_step": 2198, "end_step": 2287, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand aligns the green block with the top of the rightmost white bottle and fits the block onto the bottle."}, {"label": "subtasks", "start_step": 2288, "end_step": 2301, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: release: Right hand opens its fingers to release the green block from the grasp."}, {"label": "subtasks", "start_step": 2302, "end_step": 2309, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: retreat: Right hand moves slightly away from the assembled green block and bottle."}, {"label": "home", "start_step": 2342, "end_step": 2374, "id": "pOpzDVY7OfZUJmotA1q_b"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 37, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_position: Left hand moves slightly forward to adjust its position at the left side of the table. | Right hand: reach: Right hand moves forward towards the green hexagonal block on the black table in front of the wooden peg base."}, {"label": "subtasks", "start_step": 38, "end_step": 74, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves forward towards the green hexagonal block on the black table in front of the wooden peg base."}, {"label": "subtasks", "start_step": 75, "end_step": 97, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand closes its fingers to form a stable grasp on the green hexagonal block."}, {"label": "subtasks", "start_step": 98, "end_step": 149, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: hold: Right hand holds the green hexagonal block without any movement."}, {"label": "subtasks", "start_step": 150, "end_step": 179, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand grasps the green block on the black table, adjusting fingers to form stable grip."}, {"label": "subtasks", "start_step": 180, "end_step": 194, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it to the top of the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 195, "end_step": 337, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand mates the green block with the purple rod on the wooden base by inserting it down onto the rod."}, {"label": "subtasks", "start_step": 338, "end_step": 359, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 360, "end_step": 419, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand grasps the white hexagonal block on the black tabletop, adjusting fingers to form stable contact."}, {"label": "subtasks", "start_step": 420, "end_step": 441, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal block and transports it to the top of the leftmost purple rod on the wooden base."}, {"label": "subtasks", "start_step": 442, "end_step": 561, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand mates the white hexagonal block onto the leftmost purple rod by pushing it down along the rod."}, {"label": "subtasks", "start_step": 562, "end_step": 569, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: release: Right hand releases the white hexagonal block after it is installed on the rod."}, {"label": "subtasks", "start_step": 570, "end_step": 584, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand mates the white hexagonal block onto the leftmost purple rod by pushing it down along the rod."}, {"label": "subtasks", "start_step": 585, "end_step": 621, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand reaches downwards towards the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 622, "end_step": 659, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 660, "end_step": 689, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it to the position above the leftmost purple post on the wooden base."}, {"label": "subtasks", "start_step": 690, "end_step": 839, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand aligns the white hexagonal block with the leftmost purple post and inserts it onto the post."}, {"label": "subtasks", "start_step": 840, "end_step": 847, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: release: Right hand releases the white hexagonal block that is fitted on the purple post."}, {"label": "subtasks", "start_step": 848, "end_step": 861, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand mates the white cylindrical ring onto the top of the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 862, "end_step": 884, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 885, "end_step": 937, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand contacts the white hexagonal block on the table and adjusts fingers to form a stable grasp."}, {"label": "subtasks", "start_step": 938, "end_step": 959, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it to the top of the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 960, "end_step": 1049, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod by inserting the rod into the central hole of the block."}, {"label": "subtasks", "start_step": 1050, "end_step": 1079, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: place_release: Right hand places and releases the white ring onto the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1080, "end_step": 1139, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the table."}, {"label": "subtasks", "start_step": 1140, "end_step": 1169, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table."}, {"label": "subtasks", "start_step": 1170, "end_step": 1191, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table and transports it towards the wooden peg base."}, {"label": "subtasks", "start_step": 1192, "end_step": 1274, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand mates the green hexagonal block onto the target peg on the wooden base."}, {"label": "subtasks", "start_step": 1275, "end_step": 1297, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: release: Right hand releases the white hexagonal block on the wooden base peg."}, {"label": "subtasks", "start_step": 1298, "end_step": 1327, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves downwards towards the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1328, "end_step": 1364, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1365, "end_step": 1387, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and moves it towards the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1388, "end_step": 1477, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg and inserts it downwards onto the peg."}, {"label": "subtasks", "start_step": 1478, "end_step": 1499, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: release: Right hand releases the white hexagonal block from its grasp."}, {"label": "subtasks", "start_step": 1500, "end_step": 1529, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: place_release: Right hand places the white cylindrical block onto the peg of the wooden base and releases the block."}, {"label": "subtasks", "start_step": 1530, "end_step": 1551, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1552, "end_step": 1619, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1620, "end_step": 1664, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it to the upper position of the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1665, "end_step": 1747, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod by aligning and inserting it."}, {"label": "subtasks", "start_step": 1748, "end_step": 1867, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: hold: Right hand holds the white hexagonal block on the purple rod without obvious movement."}, {"label": "subtasks", "start_step": 1868, "end_step": 1874, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: release: Right hand releases the white hexagonal block, which slides down to the bottom of the purple rod."}, {"label": "subtasks", "start_step": 1875, "end_step": 1904, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: place: Right hand places the white hexagonal block onto the peg of the wooden base and adjusts it to be stably supported."}, {"label": "subtasks", "start_step": 1905, "end_step": 1941, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves downward towards the white hexagonal block placed on the black table surface."}, {"label": "subtasks", "start_step": 1942, "end_step": 1979, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1980, "end_step": 2001, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the tabletop and moves it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2002, "end_step": 2054, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and fits it onto the rod."}, {"label": "subtasks", "start_step": 2055, "end_step": 2084, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: release: Right hand releases the white hexagonal block, fingers open to separate from the block."}, {"label": "subtasks", "start_step": 2085, "end_step": 2129, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves downward towards the green block placed on the black table surface."}, {"label": "subtasks", "start_step": 2130, "end_step": 2167, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand closes its fingers to form a stable grasp around the green block on the table."}, {"label": "subtasks", "start_step": 2168, "end_step": 2181, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift: Right hand lifts the grasped green block completely off the table surface."}, {"label": "subtasks", "start_step": 2182, "end_step": 2197, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: transport: Right hand carries the green block to the top area of the rightmost white bottle on the wooden base."}, {"label": "subtasks", "start_step": 2198, "end_step": 2287, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand aligns the green block with the top of the rightmost white bottle and fits the block onto the bottle."}, {"label": "subtasks", "start_step": 2288, "end_step": 2301, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: release: Right hand opens its fingers to release the green block from the grasp."}, {"label": "subtasks", "start_step": 2302, "end_step": 2309, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: retreat: Right hand moves slightly away from the assembled green block and bottle."}], "episode_index": 28}
+{"source_uid": "9ab0f428ac71b69d", "num_frames": 2439, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 81, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any visible movement of the hand or fingers. | Right hand: reach: Right hand moves downward and leftward from its initial upper right position toward the green hexagonal block on the table in front of the left side of the wooden peg base, with fingers kept open during the movement."}, {"label": "goal", "start_step": 0, "end_step": 132, "id": "b1a214e0-330d-4872-9d15-c7d7732c966d"}, {"label": "valid", "start_step": 0, "end_step": 2406, "id": "afzBKYxLJnoTFs843Hn1V"}, {"label": "subtasks", "start_step": 82, "end_step": 179, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any visible movement of the hand or fingers. | Right hand: grasp: Right hand makes contact with the target green hexagonal block on the table, closing fingers around the block and adjusting contact points to establish a grip, with the block remaining on the table surface."}, {"label": "goal", "start_step": 133, "end_step": 324, "id": "773e67b5-8d7c-4110-a950-ad9e2a67ca82"}, {"label": "subtasks", "start_step": 180, "end_step": 209, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any visible movement of the hand or fingers. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block off the table surface and transports it upward to the position directly above the purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 210, "end_step": 314, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any visible movement of the hand or fingers. | Right hand: mate: Right hand aligns the inner hole of the green hexagonal block with the purple peg and lowers the block to fit onto the peg until it sits stably on the wooden base."}, {"label": "subtasks", "start_step": 315, "end_step": 351, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any visible movement of the hand or fingers. | Right hand: reach: Right hand moves downward from the area near the block rack toward the white hexagonal nut placed on the table, without contacting the target nut."}, {"label": "goal", "start_step": 325, "end_step": 404, "id": "6dafb729-ccb8-44ec-ac62-81fd6486124e"}, {"label": "subtasks", "start_step": 352, "end_step": 404, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any visible movement of the hand or fingers. | Right hand: grasp: Right hand adjusts finger positions and closes fingers around the white hexagonal nut on the table to form a grip."}, {"label": "subtasks", "start_step": 405, "end_step": 434, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any visible movement of the hand or fingers. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the black table surface and moves it to the position directly above the purple peg on the wooden base, with fingers closed around the block."}, {"label": "goal", "start_step": 405, "end_step": 530, "id": "28b84527-edaa-406a-a72f-d4b172adae29"}, {"label": "subtasks", "start_step": 435, "end_step": 479, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any visible movement of the hand or fingers. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple peg and moves the block downward to nest it onto the peg until it rests on the green base."}, {"label": "subtasks", "start_step": 480, "end_step": 524, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any visible movement of the hand or fingers. | Right hand: hold: Right hand holds the white hexagonal block nested on the purple peg without noticeable movement of the hand or the block."}, {"label": "subtasks", "start_step": 525, "end_step": 547, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any visible movement of the hand or fingers. | Right hand: release: Right hand opens fingers to release the previously placed white hexagonal block on the wooden assembly base, separating from the block."}, {"label": "goal", "start_step": 531, "end_step": 594, "id": "af79288a-af6d-4166-a6b3-b3ff6ceeace4"}, {"label": "subtasks", "start_step": 548, "end_step": 577, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any visible movement of the hand or fingers. | Right hand: reach: Right hand moves downward with open fingers toward the white hexagonal nut resting on the black table surface in front of the assembly base."}, {"label": "subtasks", "start_step": 578, "end_step": 614, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any visible movement of the hand or fingers. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, making small adjustments to form a stable grasp."}, {"label": "goal", "start_step": 595, "end_step": 776, "id": "d7ab2fbd-8981-411a-a495-62e38cf48fad"}, {"label": "subtasks", "start_step": 615, "end_step": 644, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any visible movement of the hand or fingers. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward to position it above the target purple peg on the wooden base."}, {"label": "subtasks", "start_step": 645, "end_step": 734, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any visible movement of the hand or fingers. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the target purple peg, making small wrist adjustments to slide the nut down the peg and complete the fitting."}, {"label": "subtasks", "start_step": 735, "end_step": 764, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any visible movement of the hand or fingers. | Right hand: hold: Right hand holds the fitted white hexagonal nut on the purple peg without any visible movement of the hand or the nut."}, {"label": "subtasks", "start_step": 765, "end_step": 794, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any visible movement of the hand or fingers. | Right hand: mate_release: Right hand aligns and seats the white hexagonal block onto the purple peg on the wooden rack, opening fingers to release the block."}, {"label": "goal", "start_step": 777, "end_step": 846, "id": "e273050e-0fc9-4f6d-ad1f-a248bf6b2b59"}, {"label": "subtasks", "start_step": 795, "end_step": 824, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any visible movement of the hand or fingers. | Right hand: reach: Right hand moves downward empty toward the white hexagonal block placed on the table adjacent to the wooden rack."}, {"label": "subtasks", "start_step": 825, "end_step": 861, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any visible movement of the hand or fingers. | Right hand: grasp: Right hand closes fingers around the target white hexagonal block on the table, making small adjustments to establish a stable grip."}, {"label": "goal", "start_step": 847, "end_step": 1084, "id": "871c7e1a-d79c-4734-8bf7-77ac252acd3f"}, {"label": "subtasks", "start_step": 862, "end_step": 891, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any visible movement of the hand or fingers. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface and moves it to position directly above the purple vertical peg on the wooden base."}, {"label": "subtasks", "start_step": 892, "end_step": 1079, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any visible movement of the hand or fingers. | Right hand: mate: Right hand aligns the white hexagonal block with the purple vertical peg and moves the block downward to nest it securely onto the peg."}, {"label": "subtasks", "start_step": 1080, "end_step": 1101, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any visible movement of the hand or fingers. | Right hand: release: Right hand opens its fingers to release the light purple cylindrical peg on the wooden assembly base, separating fully from the peg by the end of the segment."}, {"label": "goal", "start_step": 1085, "end_step": 1158, "id": "ce86d3ef-f2cb-4234-9160-3463a56bfdc0"}, {"label": "subtasks", "start_step": 1102, "end_step": 1147, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any visible movement of the hand or fingers. | Right hand: reach: Right hand moves downward empty toward the green hexagonal nut placed on the black table surface in front of the assembly base."}, {"label": "subtasks", "start_step": 1148, "end_step": 1154, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any visible movement of the hand or fingers. | Right hand: grasp: Right hand contacts the target green hexagonal nut, adjusting finger positions and closing around the nut to form a stable grasp."}, {"label": "subtasks", "start_step": 1155, "end_step": 1177, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any visible movement of the hand or fingers. | Right hand: lift: Right hand lifts the grasped green hexagonal block upward from the black table surface."}, {"label": "goal", "start_step": 1159, "end_step": 1476, "id": "baba93e7-03b2-41e9-acfc-46784cd223c9"}, {"label": "subtasks", "start_step": 1178, "end_step": 1199, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any visible movement of the hand or fingers. | Right hand: transport: Right hand carries the green hexagonal block toward the wooden assembly stand, positioning the block directly above the purple vertical post."}, {"label": "subtasks", "start_step": 1200, "end_step": 1469, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any visible movement of the hand or fingers. | Right hand: mate: Right hand adjusts the position and orientation of the green hexagonal block to align its central hole with the purple post, then lowers the block to fit onto the post until it rests on the white block below."}, {"label": "subtasks", "start_step": 1470, "end_step": 1499, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any visible movement of the hand or fingers. | Right hand: idle: Right hand remains empty above the stacked block set without any obvious movement."}, {"label": "goal", "start_step": 1477, "end_step": 1556, "id": "37dcd6c0-0423-4688-a3ce-3dc396a9f256"}, {"label": "subtasks", "start_step": 1500, "end_step": 1537, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any visible movement of the hand or fingers. | Right hand: reach: Right hand moves downward with open fingers from the stacked block area toward the white hexagonal block placed on the front table surface."}, {"label": "subtasks", "start_step": 1538, "end_step": 1574, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any visible movement of the hand or fingers. | Right hand: grasp: Right hand closes fingers around the front white hexagonal block to establish a grip."}, {"label": "goal", "start_step": 1557, "end_step": 1714, "id": "78f2843b-a4aa-4f1a-90d1-1ab7424e8976"}, {"label": "subtasks", "start_step": 1575, "end_step": 1604, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any visible movement of the hand or fingers. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward to the position directly above the purple rod on the wooden block assembly base."}, {"label": "subtasks", "start_step": 1605, "end_step": 1709, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any visible movement of the hand or fingers. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple rod on the block assembly base, makes slight positional adjustments, and lowers the nut to fit onto the rod."}, {"label": "subtasks", "start_step": 1710, "end_step": 1739, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any visible movement of the hand or fingers. | Right hand: reach: Right hand moves downward and rightward from above the stacked block assembly toward the closest white hexagonal nut placed on the dark table surface, with fingers held extended."}, {"label": "goal", "start_step": 1715, "end_step": 1806, "id": "e22fee20-ea81-4e80-acbb-8db1f97ff701"}, {"label": "subtasks", "start_step": 1740, "end_step": 1821, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any visible movement of the hand or fingers. | Right hand: grasp: Right hand adjusts finger positions around the target white hexagonal nut, gradually closing the thumb and fingers to establish contact and form a grasp on the nut."}, {"label": "goal", "start_step": 1807, "end_step": 1966, "id": "db5fc013-7b1b-4a57-99a6-11ff71156123"}, {"label": "subtasks", "start_step": 1822, "end_step": 1844, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any visible movement of the hand or fingers. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface and moves it upward to a position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1845, "end_step": 1941, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any visible movement of the hand or fingers. | Right hand: mate: Right hand makes small positional adjustments to align the central hole of the white hexagonal block with the purple rod, positioning the block for assembly."}, {"label": "subtasks", "start_step": 1942, "end_step": 1964, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any visible movement of the hand or fingers. | Right hand: place: Right hand lowers the aligned white hexagonal block down along the purple rod until it rests stably on top of the lower stacked white block on the wooden base."}, {"label": "subtasks", "start_step": 1965, "end_step": 2001, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any visible movement of the hand or fingers. | Right hand: reach: Right hand moves downward toward the white hexagonal nut on the black table surface, staying empty and out of contact with the nut during the approach."}, {"label": "goal", "start_step": 1967, "end_step": 2042, "id": "d77bff55-a0fb-49ec-8995-109d3c747d1a"}, {"label": "subtasks", "start_step": 2002, "end_step": 2039, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any visible movement of the hand or fingers. | Right hand: grasp: Right hand makes contact with the white hexagonal nut on the table, closing fingers around the nut and making small adjustments to establish a grip."}, {"label": "subtasks", "start_step": 2040, "end_step": 2061, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any visible movement of the hand or fingers. | Right hand: hold: Right hand holds the white hexagonal block above the right area of the table without moving."}, {"label": "goal", "start_step": 2043, "end_step": 2168, "id": "d4f4615c-2179-4cfd-b3a2-15d912f3b026"}, {"label": "subtasks", "start_step": 2062, "end_step": 2099, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any visible movement of the hand or fingers. | Right hand: transport: Right hand holds the white hexagonal block and moves it upwards and leftwards toward the purple rod on the wooden block stand."}, {"label": "subtasks", "start_step": 2100, "end_step": 2159, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any visible movement of the hand or fingers. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and moves it downwards to fit the block onto the rod."}, {"label": "subtasks", "start_step": 2160, "end_step": 2181, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any visible movement of the hand or fingers. | Right hand: release: Right hand opens fingers to release the light purple-topped white cylindrical bottle on the wooden storage rack, detaching from the bottle."}, {"label": "goal", "start_step": 2169, "end_step": 2242, "id": "9c2121d1-d21f-4cb3-b8d0-4ae57f5079d3"}, {"label": "subtasks", "start_step": 2182, "end_step": 2211, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any visible movement of the hand or fingers. | Right hand: reach: Right hand moves diagonally down-right toward the green hollow square block on the dark table surface, remaining empty during movement."}, {"label": "subtasks", "start_step": 2212, "end_step": 2234, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any visible movement of the hand or fingers. | Right hand: grasp: Right hand closes thumb and fingers around the green hollow square block on the dark table surface, making small adjustments to establish grip."}, {"label": "subtasks", "start_step": 2235, "end_step": 2257, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any visible movement of the hand or fingers. | Right hand: lift: Right hand holds the green hexagonal block and lifts it upward off the dark table surface."}, {"label": "goal", "start_step": 2243, "end_step": 2364, "id": "2b3e725f-cc49-450c-b131-f19b8affb4d5"}, {"label": "subtasks", "start_step": 2258, "end_step": 2287, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any visible movement of the hand or fingers. | Right hand: transport: Right hand carries the green hexagonal block upward and leftward toward the white hexagonal block rack."}, {"label": "subtasks", "start_step": 2288, "end_step": 2331, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any visible movement of the hand or fingers. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple post on the rack, making small positional adjustments to fit over the post."}, {"label": "subtasks", "start_step": 2332, "end_step": 2354, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any visible movement of the hand or fingers. | Right hand: place: Right hand lowers the green hexagonal block down along the purple post until the block rests stably on the supporting white block below."}, {"label": "subtasks", "start_step": 2355, "end_step": 2369, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any visible movement of the hand or fingers. | Right hand: release: Right hand opens its fingers to release the stably placed green hexagonal block on the rack."}, {"label": "home", "start_step": 2407, "end_step": 2438, "id": "f3QFn5fLj-0uCRz_JUQUT"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 81, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any visible movement of the hand or fingers. | Right hand: reach: Right hand moves downward and leftward from its initial upper right position toward the green hexagonal block on the table in front of the left side of the wooden peg base, with fingers kept open during the movement."}, {"label": "subtasks", "start_step": 82, "end_step": 179, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any visible movement of the hand or fingers. | Right hand: grasp: Right hand makes contact with the target green hexagonal block on the table, closing fingers around the block and adjusting contact points to establish a grip, with the block remaining on the table surface."}, {"label": "subtasks", "start_step": 180, "end_step": 209, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any visible movement of the hand or fingers. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block off the table surface and transports it upward to the position directly above the purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 210, "end_step": 314, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any visible movement of the hand or fingers. | Right hand: mate: Right hand aligns the inner hole of the green hexagonal block with the purple peg and lowers the block to fit onto the peg until it sits stably on the wooden base."}, {"label": "subtasks", "start_step": 315, "end_step": 351, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any visible movement of the hand or fingers. | Right hand: reach: Right hand moves downward from the area near the block rack toward the white hexagonal nut placed on the table, without contacting the target nut."}, {"label": "subtasks", "start_step": 352, "end_step": 404, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any visible movement of the hand or fingers. | Right hand: grasp: Right hand adjusts finger positions and closes fingers around the white hexagonal nut on the table to form a grip."}, {"label": "subtasks", "start_step": 405, "end_step": 434, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any visible movement of the hand or fingers. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the black table surface and moves it to the position directly above the purple peg on the wooden base, with fingers closed around the block."}, {"label": "subtasks", "start_step": 435, "end_step": 479, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any visible movement of the hand or fingers. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple peg and moves the block downward to nest it onto the peg until it rests on the green base."}, {"label": "subtasks", "start_step": 480, "end_step": 524, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any visible movement of the hand or fingers. | Right hand: hold: Right hand holds the white hexagonal block nested on the purple peg without noticeable movement of the hand or the block."}, {"label": "subtasks", "start_step": 525, "end_step": 547, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any visible movement of the hand or fingers. | Right hand: release: Right hand opens fingers to release the previously placed white hexagonal block on the wooden assembly base, separating from the block."}, {"label": "subtasks", "start_step": 548, "end_step": 577, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any visible movement of the hand or fingers. | Right hand: reach: Right hand moves downward with open fingers toward the white hexagonal nut resting on the black table surface in front of the assembly base."}, {"label": "subtasks", "start_step": 578, "end_step": 614, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any visible movement of the hand or fingers. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, making small adjustments to form a stable grasp."}, {"label": "subtasks", "start_step": 615, "end_step": 644, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any visible movement of the hand or fingers. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward to position it above the target purple peg on the wooden base."}, {"label": "subtasks", "start_step": 645, "end_step": 734, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any visible movement of the hand or fingers. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the target purple peg, making small wrist adjustments to slide the nut down the peg and complete the fitting."}, {"label": "subtasks", "start_step": 735, "end_step": 764, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any visible movement of the hand or fingers. | Right hand: hold: Right hand holds the fitted white hexagonal nut on the purple peg without any visible movement of the hand or the nut."}, {"label": "subtasks", "start_step": 765, "end_step": 794, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any visible movement of the hand or fingers. | Right hand: mate_release: Right hand aligns and seats the white hexagonal block onto the purple peg on the wooden rack, opening fingers to release the block."}, {"label": "subtasks", "start_step": 795, "end_step": 824, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any visible movement of the hand or fingers. | Right hand: reach: Right hand moves downward empty toward the white hexagonal block placed on the table adjacent to the wooden rack."}, {"label": "subtasks", "start_step": 825, "end_step": 861, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any visible movement of the hand or fingers. | Right hand: grasp: Right hand closes fingers around the target white hexagonal block on the table, making small adjustments to establish a stable grip."}, {"label": "subtasks", "start_step": 862, "end_step": 891, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any visible movement of the hand or fingers. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface and moves it to position directly above the purple vertical peg on the wooden base."}, {"label": "subtasks", "start_step": 892, "end_step": 1079, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any visible movement of the hand or fingers. | Right hand: mate: Right hand aligns the white hexagonal block with the purple vertical peg and moves the block downward to nest it securely onto the peg."}, {"label": "subtasks", "start_step": 1080, "end_step": 1101, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any visible movement of the hand or fingers. | Right hand: release: Right hand opens its fingers to release the light purple cylindrical peg on the wooden assembly base, separating fully from the peg by the end of the segment."}, {"label": "subtasks", "start_step": 1102, "end_step": 1147, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any visible movement of the hand or fingers. | Right hand: reach: Right hand moves downward empty toward the green hexagonal nut placed on the black table surface in front of the assembly base."}, {"label": "subtasks", "start_step": 1148, "end_step": 1154, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any visible movement of the hand or fingers. | Right hand: grasp: Right hand contacts the target green hexagonal nut, adjusting finger positions and closing around the nut to form a stable grasp."}, {"label": "subtasks", "start_step": 1155, "end_step": 1177, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any visible movement of the hand or fingers. | Right hand: lift: Right hand lifts the grasped green hexagonal block upward from the black table surface."}, {"label": "subtasks", "start_step": 1178, "end_step": 1199, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any visible movement of the hand or fingers. | Right hand: transport: Right hand carries the green hexagonal block toward the wooden assembly stand, positioning the block directly above the purple vertical post."}, {"label": "subtasks", "start_step": 1200, "end_step": 1469, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any visible movement of the hand or fingers. | Right hand: mate: Right hand adjusts the position and orientation of the green hexagonal block to align its central hole with the purple post, then lowers the block to fit onto the post until it rests on the white block below."}, {"label": "subtasks", "start_step": 1470, "end_step": 1499, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any visible movement of the hand or fingers. | Right hand: idle: Right hand remains empty above the stacked block set without any obvious movement."}, {"label": "subtasks", "start_step": 1500, "end_step": 1537, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any visible movement of the hand or fingers. | Right hand: reach: Right hand moves downward with open fingers from the stacked block area toward the white hexagonal block placed on the front table surface."}, {"label": "subtasks", "start_step": 1538, "end_step": 1574, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any visible movement of the hand or fingers. | Right hand: grasp: Right hand closes fingers around the front white hexagonal block to establish a grip."}, {"label": "subtasks", "start_step": 1575, "end_step": 1604, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any visible movement of the hand or fingers. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward to the position directly above the purple rod on the wooden block assembly base."}, {"label": "subtasks", "start_step": 1605, "end_step": 1709, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any visible movement of the hand or fingers. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple rod on the block assembly base, makes slight positional adjustments, and lowers the nut to fit onto the rod."}, {"label": "subtasks", "start_step": 1710, "end_step": 1739, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any visible movement of the hand or fingers. | Right hand: reach: Right hand moves downward and rightward from above the stacked block assembly toward the closest white hexagonal nut placed on the dark table surface, with fingers held extended."}, {"label": "subtasks", "start_step": 1740, "end_step": 1821, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any visible movement of the hand or fingers. | Right hand: grasp: Right hand adjusts finger positions around the target white hexagonal nut, gradually closing the thumb and fingers to establish contact and form a grasp on the nut."}, {"label": "subtasks", "start_step": 1822, "end_step": 1844, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any visible movement of the hand or fingers. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface and moves it upward to a position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1845, "end_step": 1941, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any visible movement of the hand or fingers. | Right hand: mate: Right hand makes small positional adjustments to align the central hole of the white hexagonal block with the purple rod, positioning the block for assembly."}, {"label": "subtasks", "start_step": 1942, "end_step": 1964, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any visible movement of the hand or fingers. | Right hand: place: Right hand lowers the aligned white hexagonal block down along the purple rod until it rests stably on top of the lower stacked white block on the wooden base."}, {"label": "subtasks", "start_step": 1965, "end_step": 2001, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any visible movement of the hand or fingers. | Right hand: reach: Right hand moves downward toward the white hexagonal nut on the black table surface, staying empty and out of contact with the nut during the approach."}, {"label": "subtasks", "start_step": 2002, "end_step": 2039, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any visible movement of the hand or fingers. | Right hand: grasp: Right hand makes contact with the white hexagonal nut on the table, closing fingers around the nut and making small adjustments to establish a grip."}, {"label": "subtasks", "start_step": 2040, "end_step": 2061, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any visible movement of the hand or fingers. | Right hand: hold: Right hand holds the white hexagonal block above the right area of the table without moving."}, {"label": "subtasks", "start_step": 2062, "end_step": 2099, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any visible movement of the hand or fingers. | Right hand: transport: Right hand holds the white hexagonal block and moves it upwards and leftwards toward the purple rod on the wooden block stand."}, {"label": "subtasks", "start_step": 2100, "end_step": 2159, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any visible movement of the hand or fingers. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and moves it downwards to fit the block onto the rod."}, {"label": "subtasks", "start_step": 2160, "end_step": 2181, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any visible movement of the hand or fingers. | Right hand: release: Right hand opens fingers to release the light purple-topped white cylindrical bottle on the wooden storage rack, detaching from the bottle."}, {"label": "subtasks", "start_step": 2182, "end_step": 2211, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any visible movement of the hand or fingers. | Right hand: reach: Right hand moves diagonally down-right toward the green hollow square block on the dark table surface, remaining empty during movement."}, {"label": "subtasks", "start_step": 2212, "end_step": 2234, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any visible movement of the hand or fingers. | Right hand: grasp: Right hand closes thumb and fingers around the green hollow square block on the dark table surface, making small adjustments to establish grip."}, {"label": "subtasks", "start_step": 2235, "end_step": 2257, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any visible movement of the hand or fingers. | Right hand: lift: Right hand holds the green hexagonal block and lifts it upward off the dark table surface."}, {"label": "subtasks", "start_step": 2258, "end_step": 2287, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any visible movement of the hand or fingers. | Right hand: transport: Right hand carries the green hexagonal block upward and leftward toward the white hexagonal block rack."}, {"label": "subtasks", "start_step": 2288, "end_step": 2331, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any visible movement of the hand or fingers. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple post on the rack, making small positional adjustments to fit over the post."}, {"label": "subtasks", "start_step": 2332, "end_step": 2354, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any visible movement of the hand or fingers. | Right hand: place: Right hand lowers the green hexagonal block down along the purple post until the block rests stably on the supporting white block below."}, {"label": "subtasks", "start_step": 2355, "end_step": 2369, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any visible movement of the hand or fingers. | Right hand: release: Right hand opens its fingers to release the stably placed green hexagonal block on the rack."}], "episode_index": 29}
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_16_32_28_train/lerobot_v2.1/meta/annotations.jsonl b/play_tic_tac_toe/season_POC22048_2026_06_27_16_32_28_train/lerobot_v2.1/meta/annotations.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..416959da125969412e388508fbbd67469ce77d36
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_16_32_28_train/lerobot_v2.1/meta/annotations.jsonl
@@ -0,0 +1,30 @@
+{"source_uid": "563a424bb5967b7a", "num_frames": 3399, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 44, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_posture: Left hand adjusts its posture with fingers gradually extending and slight wrist rotation at the left side of the table. | Right hand: reach: Right hand moves from the right side of the table toward the green hexagonal block on the black table surface left of the wooden peg base."}, {"label": "goal", "start_step": 0, "end_step": 172, "id": "616fae8e-4a9c-4d7f-a7b1-1c0b6a598735"}, {"label": "valid", "start_step": 0, "end_step": 3371, "id": "2Xya-OUH-Bv8mMkZz4nBX"}, {"label": "subtasks", "start_step": 45, "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 from the right side of the table toward the green hexagonal block on the black table surface left of the wooden peg base."}, {"label": "subtasks", "start_step": 112, "end_step": 149, "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 grasps the green hexagonal block on the table, with fingers closing and adjusting to form a stable grip."}, {"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 table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the black table surface without moving."}, {"label": "subtasks", "start_step": 165, "end_step": 194, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, adjusting its fingers to form a stable grip."}, {"label": "goal", "start_step": 173, "end_step": 342, "id": "e69438e9-f8e1-459a-aaea-2b7ec550c805"}, {"label": "subtasks", "start_step": 195, "end_step": 217, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table and moves it to the top of the vertical peg on the wooden rack."}, {"label": "subtasks", "start_step": 218, "end_step": 269, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the vertical peg of the wooden rack, lowering the block to fit the peg through its central hole."}, {"label": "subtasks", "start_step": 270, "end_step": 329, "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 green hexagonal block on the peg of the wooden rack without moving."}, {"label": "subtasks", "start_step": 330, "end_step": 351, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white sleeve onto the green sleeve on the leftmost peg of the wooden board."}, {"label": "goal", "start_step": 343, "end_step": 585, "id": "8c05fc99-8598-4b8e-89de-6151ae816d50"}, {"label": "subtasks", "start_step": 352, "end_step": 367, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white sleeve on the peg with fingers opening."}, {"label": "subtasks", "start_step": 368, "end_step": 411, "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 reaches downward toward the white hexagonal sleeve on the black table surface."}, {"label": "subtasks", "start_step": 412, "end_step": 441, "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 grasps the white hexagonal sleeve on the table with fingers closing to form a stable grip."}, {"label": "subtasks", "start_step": 442, "end_step": 584, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reorient: Right hand rotates the white hexagonal sleeve to adjust its orientation, with the sleeve's position remaining roughly unchanged."}, {"label": "subtasks", "start_step": 585, "end_step": 607, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal nut on the black table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 586, "end_step": 759, "id": "594f98ce-df70-4609-a5e9-65898e8003ee"}, {"label": "subtasks", "start_step": 608, "end_step": 651, "id": "reasoning-language-00015", "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 white hexagonal nut off the table and transports it to the position above the leftmost test tube on the wooden rack."}, {"label": "subtasks", "start_step": 652, "end_step": 749, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal nut with the top of the leftmost test tube on the wooden rack, adjusting the position to fit the nut onto the test tube."}, {"label": "subtasks", "start_step": 750, "end_step": 779, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical piece on the front-left peg of the wooden pegboard, with fingers opening."}, {"label": "goal", "start_step": 760, "end_step": 838, "id": "6d561193-0d47-48b7-9ecc-9e2d052398e8"}, {"label": "subtasks", "start_step": 780, "end_step": 817, "id": "reasoning-language-00018", "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 pegboard toward the white hexagonal piece on the black table."}, {"label": "subtasks", "start_step": 818, "end_step": 914, "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 grasps the white hexagonal piece on the black table, with fingers closing around the piece."}, {"label": "goal", "start_step": 839, "end_step": 1044, "id": "186dd778-9e3a-4772-9996-84ed7b6d5c9e"}, {"label": "subtasks", "start_step": 915, "end_step": 937, "id": "reasoning-language-00020", "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 white hexagonal block from the table and transports it towards the test tube rack."}, {"label": "subtasks", "start_step": 938, "end_step": 997, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the leftmost purple rod on the test tube rack and inserts it downwards."}, {"label": "subtasks", "start_step": 998, "end_step": 1034, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple rod without moving."}, {"label": "subtasks", "start_step": 1035, "end_step": 1064, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand fits the white cylindrical part onto the purple vertical peg on the wooden base and releases its grip."}, {"label": "goal", "start_step": 1045, "end_step": 1155, "id": "7fe1f9b7-d7f6-4a98-a752-0f7b7a183b75"}, {"label": "subtasks", "start_step": 1065, "end_step": 1154, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach_grasp: Right hand reaches toward the white hexagonal part on the black table and makes initial contact with the part to start grasping."}, {"label": "subtasks", "start_step": 1155, "end_step": 1169, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, fingers closing to form a stable grip."}, {"label": "goal", "start_step": 1156, "end_step": 1281, "id": "d8813d1a-5aae-40a6-9e5c-91b4e4089cf4"}, {"label": "subtasks", "start_step": 1170, "end_step": 1191, "id": "reasoning-language-00026", "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 white hexagonal block off the table surface and transports it upward to the position above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1192, "end_step": 1229, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod by aligning and lowering it into the fitted position."}, {"label": "subtasks", "start_step": 1230, "end_step": 1274, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple rod without moving."}, {"label": "subtasks", "start_step": 1275, "end_step": 1297, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white ring onto the purple peg on the wooden base and releases the ring."}, {"label": "goal", "start_step": 1282, "end_step": 1367, "id": "4f8dc553-aee5-45e9-b4d7-01cea7335f18"}, {"label": "subtasks", "start_step": 1298, "end_step": 1311, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the green hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1312, "end_step": 1334, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table with fingers closing to adjust the grip."}, {"label": "subtasks", "start_step": 1335, "end_step": 1364, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 1365, "end_step": 1379, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block placed on the black table."}, {"label": "goal", "start_step": 1368, "end_step": 1499, "id": "c5ddb1f7-aa85-4ab5-90d3-b33ce8080c8d"}, {"label": "subtasks", "start_step": 1380, "end_step": 1401, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts and transports the green hexagonal block from the black table toward the purple vertical peg on the wooden base."}, {"label": "subtasks", "start_step": 1402, "end_step": 1447, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the purple vertical peg of the wooden base."}, {"label": "subtasks", "start_step": 1448, "end_step": 1499, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the purple peg without moving."}, {"label": "subtasks", "start_step": 1500, "end_step": 1521, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white cylindrical block onto the green block on the middle peg of the pegboard and releases it."}, {"label": "goal", "start_step": 1500, "end_step": 1579, "id": "2c8977b4-f03f-48cd-908d-21d946042f16"}, {"label": "subtasks", "start_step": 1522, "end_step": 1537, "id": "reasoning-language-00038", "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 white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1538, "end_step": 1604, "id": "reasoning-language-00039", "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 grasp the white hexagonal block on the table."}, {"label": "goal", "start_step": 1580, "end_step": 1749, "id": "a7886e7e-40d7-4865-a972-c0af7d5440bc"}, {"label": "subtasks", "start_step": 1605, "end_step": 1627, "id": "reasoning-language-00040", "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 white hexagonal part off the green base and transports it toward the wooden peg rack at the center of the table."}, {"label": "subtasks", "start_step": 1628, "end_step": 1664, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal part with the white peg on the wooden rack and inserts it onto the peg to complete assembly."}, {"label": "subtasks", "start_step": 1665, "end_step": 1739, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal part on the white peg of the wooden rack without moving."}, {"label": "subtasks", "start_step": 1740, "end_step": 1769, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand fits the white hexagonal sleeve onto the purple peg of the wooden base and releases the grip."}, {"label": "goal", "start_step": 1750, "end_step": 1821, "id": "e1285014-3f24-4cc3-b3ce-fcc6bd07f60d"}, {"label": "subtasks", "start_step": 1770, "end_step": 1791, "id": "reasoning-language-00044", "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 white hexagonal piece on the black table surface."}, {"label": "subtasks", "start_step": 1792, "end_step": 1919, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal piece on the black table surface with fingers closing around it."}, {"label": "goal", "start_step": 1822, "end_step": 2008, "id": "d997e94e-b38f-43d7-b8a9-fe20b449f153"}, {"label": "subtasks", "start_step": 1920, "end_step": 1971, "id": "reasoning-language-00046", "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 white hexagonal block off the table and transports it toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1972, "end_step": 1994, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and fits it onto the rod."}, {"label": "subtasks", "start_step": 1995, "end_step": 2024, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white cap down onto the purple peg on the wooden board."}, {"label": "goal", "start_step": 2009, "end_step": 2092, "id": "f3c4677d-2fff-408f-8e8f-a47173463fa5"}, {"label": "subtasks", "start_step": 2025, "end_step": 2054, "id": "reasoning-language-00049", "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 rightward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 2055, "end_step": 2107, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 2093, "end_step": 2275, "id": "30f709a9-80bb-496b-8996-7871bc3950eb"}, {"label": "subtasks", "start_step": 2108, "end_step": 2144, "id": "reasoning-language-00051", "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 white hexagonal block off the table and transports it to the upper right of the purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 2145, "end_step": 2167, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg and inserts it onto the peg to form an assembly relationship."}, {"label": "subtasks", "start_step": 2168, "end_step": 2219, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white hexagonal block down along the purple peg to press it firmly in place."}, {"label": "subtasks", "start_step": 2220, "end_step": 2264, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the purple peg without moving."}, {"label": "subtasks", "start_step": 2265, "end_step": 2301, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white cylinder with a purple top into the wooden tray on the black table."}, {"label": "goal", "start_step": 2276, "end_step": 2369, "id": "48d8c7ee-25ff-42af-83ad-f14b52bf9fef"}, {"label": "subtasks", "start_step": 2302, "end_step": 2324, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the green cubic block on the right side of the black table."}, {"label": "subtasks", "start_step": 2325, "end_step": 2339, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cubic block on the right side of the black table."}, {"label": "subtasks", "start_step": 2340, "end_step": 2391, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green cubic block on the right side of the black table without moving."}, {"label": "goal", "start_step": 2370, "end_step": 3343, "id": "6ce7fe19-619f-438f-8a4d-30222566040d"}, {"label": "subtasks", "start_step": 2392, "end_step": 2444, "id": "reasoning-language-00059", "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 green square block from the table and transports it towards the test tube rack."}, {"label": "subtasks", "start_step": 2445, "end_step": 2534, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green square block with the rightmost test tube to attempt fitting it onto the tube."}, {"label": "subtasks", "start_step": 2535, "end_step": 2549, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green square block, which falls onto the right side of the table."}, {"label": "subtasks", "start_step": 2550, "end_step": 2669, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats from the test tube rack towards the right side of the table."}, {"label": "subtasks", "start_step": 2670, "end_step": 2684, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach_grasp: Right hand reaches for the green square block on the right table and grasps it."}, {"label": "subtasks", "start_step": 2685, "end_step": 2789, "id": "reasoning-language-00064", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green square block to the middle-right area of the table."}, {"label": "subtasks", "start_step": 2790, "end_step": 3164, "id": "reasoning-language-00065", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_reorient: Right hand places the green square block on the table and rotates it to adjust its orientation."}, {"label": "subtasks", "start_step": 3165, "end_step": 3217, "id": "reasoning-language-00066", "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 green square block from the table and transports it towards the test tube rack."}, {"label": "subtasks", "start_step": 3218, "end_step": 3344, "id": "reasoning-language-00067", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green square block with the rightmost test tube and fits it onto the tube."}, {"label": "home", "start_step": 3372, "end_step": 3398, "id": "Ar10AUpyOwD62hW0dvFk5"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 44, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_posture: Left hand adjusts its posture with fingers gradually extending and slight wrist rotation at the left side of the table. | Right hand: reach: Right hand moves from the right side of the table toward the green hexagonal block on the black table surface left of the wooden peg base."}, {"label": "subtasks", "start_step": 45, "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 from the right side of the table toward the green hexagonal block on the black table surface left of the wooden peg base."}, {"label": "subtasks", "start_step": 112, "end_step": 149, "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 grasps the green hexagonal block on the table, with fingers closing and adjusting to form a stable grip."}, {"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 table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the black table surface without moving."}, {"label": "subtasks", "start_step": 165, "end_step": 194, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, adjusting its fingers to form a stable grip."}, {"label": "subtasks", "start_step": 195, "end_step": 217, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table and moves it to the top of the vertical peg on the wooden rack."}, {"label": "subtasks", "start_step": 218, "end_step": 269, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the vertical peg of the wooden rack, lowering the block to fit the peg through its central hole."}, {"label": "subtasks", "start_step": 270, "end_step": 329, "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 green hexagonal block on the peg of the wooden rack without moving."}, {"label": "subtasks", "start_step": 330, "end_step": 351, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white sleeve onto the green sleeve on the leftmost peg of the wooden board."}, {"label": "subtasks", "start_step": 352, "end_step": 367, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white sleeve on the peg with fingers opening."}, {"label": "subtasks", "start_step": 368, "end_step": 411, "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 reaches downward toward the white hexagonal sleeve on the black table surface."}, {"label": "subtasks", "start_step": 412, "end_step": 441, "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 grasps the white hexagonal sleeve on the table with fingers closing to form a stable grip."}, {"label": "subtasks", "start_step": 442, "end_step": 584, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reorient: Right hand rotates the white hexagonal sleeve to adjust its orientation, with the sleeve's position remaining roughly unchanged."}, {"label": "subtasks", "start_step": 585, "end_step": 607, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal nut on the black table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 608, "end_step": 651, "id": "reasoning-language-00015", "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 white hexagonal nut off the table and transports it to the position above the leftmost test tube on the wooden rack."}, {"label": "subtasks", "start_step": 652, "end_step": 749, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal nut with the top of the leftmost test tube on the wooden rack, adjusting the position to fit the nut onto the test tube."}, {"label": "subtasks", "start_step": 750, "end_step": 779, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical piece on the front-left peg of the wooden pegboard, with fingers opening."}, {"label": "subtasks", "start_step": 780, "end_step": 817, "id": "reasoning-language-00018", "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 pegboard toward the white hexagonal piece on the black table."}, {"label": "subtasks", "start_step": 818, "end_step": 914, "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 grasps the white hexagonal piece on the black table, with fingers closing around the piece."}, {"label": "subtasks", "start_step": 915, "end_step": 937, "id": "reasoning-language-00020", "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 white hexagonal block from the table and transports it towards the test tube rack."}, {"label": "subtasks", "start_step": 938, "end_step": 997, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the leftmost purple rod on the test tube rack and inserts it downwards."}, {"label": "subtasks", "start_step": 998, "end_step": 1034, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple rod without moving."}, {"label": "subtasks", "start_step": 1035, "end_step": 1064, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand fits the white cylindrical part onto the purple vertical peg on the wooden base and releases its grip."}, {"label": "subtasks", "start_step": 1065, "end_step": 1154, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach_grasp: Right hand reaches toward the white hexagonal part on the black table and makes initial contact with the part to start grasping."}, {"label": "subtasks", "start_step": 1155, "end_step": 1169, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, fingers closing to form a stable grip."}, {"label": "subtasks", "start_step": 1170, "end_step": 1191, "id": "reasoning-language-00026", "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 white hexagonal block off the table surface and transports it upward to the position above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1192, "end_step": 1229, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod by aligning and lowering it into the fitted position."}, {"label": "subtasks", "start_step": 1230, "end_step": 1274, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple rod without moving."}, {"label": "subtasks", "start_step": 1275, "end_step": 1297, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white ring onto the purple peg on the wooden base and releases the ring."}, {"label": "subtasks", "start_step": 1298, "end_step": 1311, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the green hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1312, "end_step": 1334, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table with fingers closing to adjust the grip."}, {"label": "subtasks", "start_step": 1335, "end_step": 1364, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 1365, "end_step": 1379, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block placed on the black table."}, {"label": "subtasks", "start_step": 1380, "end_step": 1401, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts and transports the green hexagonal block from the black table toward the purple vertical peg on the wooden base."}, {"label": "subtasks", "start_step": 1402, "end_step": 1447, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the purple vertical peg of the wooden base."}, {"label": "subtasks", "start_step": 1448, "end_step": 1499, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the purple peg without moving."}, {"label": "subtasks", "start_step": 1500, "end_step": 1521, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white cylindrical block onto the green block on the middle peg of the pegboard and releases it."}, {"label": "subtasks", "start_step": 1522, "end_step": 1537, "id": "reasoning-language-00038", "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 white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1538, "end_step": 1604, "id": "reasoning-language-00039", "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 grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1605, "end_step": 1627, "id": "reasoning-language-00040", "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 white hexagonal part off the green base and transports it toward the wooden peg rack at the center of the table."}, {"label": "subtasks", "start_step": 1628, "end_step": 1664, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal part with the white peg on the wooden rack and inserts it onto the peg to complete assembly."}, {"label": "subtasks", "start_step": 1665, "end_step": 1739, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal part on the white peg of the wooden rack without moving."}, {"label": "subtasks", "start_step": 1740, "end_step": 1769, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand fits the white hexagonal sleeve onto the purple peg of the wooden base and releases the grip."}, {"label": "subtasks", "start_step": 1770, "end_step": 1791, "id": "reasoning-language-00044", "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 white hexagonal piece on the black table surface."}, {"label": "subtasks", "start_step": 1792, "end_step": 1919, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal piece on the black table surface with fingers closing around it."}, {"label": "subtasks", "start_step": 1920, "end_step": 1971, "id": "reasoning-language-00046", "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 white hexagonal block off the table and transports it toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1972, "end_step": 1994, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and fits it onto the rod."}, {"label": "subtasks", "start_step": 1995, "end_step": 2024, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white cap down onto the purple peg on the wooden board."}, {"label": "subtasks", "start_step": 2025, "end_step": 2054, "id": "reasoning-language-00049", "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 rightward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 2055, "end_step": 2107, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2108, "end_step": 2144, "id": "reasoning-language-00051", "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 white hexagonal block off the table and transports it to the upper right of the purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 2145, "end_step": 2167, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg and inserts it onto the peg to form an assembly relationship."}, {"label": "subtasks", "start_step": 2168, "end_step": 2219, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white hexagonal block down along the purple peg to press it firmly in place."}, {"label": "subtasks", "start_step": 2220, "end_step": 2264, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the purple peg without moving."}, {"label": "subtasks", "start_step": 2265, "end_step": 2301, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white cylinder with a purple top into the wooden tray on the black table."}, {"label": "subtasks", "start_step": 2302, "end_step": 2324, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the green cubic block on the right side of the black table."}, {"label": "subtasks", "start_step": 2325, "end_step": 2339, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cubic block on the right side of the black table."}, {"label": "subtasks", "start_step": 2340, "end_step": 2391, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green cubic block on the right side of the black table without moving."}, {"label": "subtasks", "start_step": 2392, "end_step": 2444, "id": "reasoning-language-00059", "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 green square block from the table and transports it towards the test tube rack."}, {"label": "subtasks", "start_step": 2445, "end_step": 2534, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green square block with the rightmost test tube to attempt fitting it onto the tube."}, {"label": "subtasks", "start_step": 2535, "end_step": 2549, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green square block, which falls onto the right side of the table."}, {"label": "subtasks", "start_step": 2550, "end_step": 2669, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats from the test tube rack towards the right side of the table."}, {"label": "subtasks", "start_step": 2670, "end_step": 2684, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach_grasp: Right hand reaches for the green square block on the right table and grasps it."}, {"label": "subtasks", "start_step": 2685, "end_step": 2789, "id": "reasoning-language-00064", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green square block to the middle-right area of the table."}, {"label": "subtasks", "start_step": 2790, "end_step": 3164, "id": "reasoning-language-00065", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_reorient: Right hand places the green square block on the table and rotates it to adjust its orientation."}, {"label": "subtasks", "start_step": 3165, "end_step": 3217, "id": "reasoning-language-00066", "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 green square block from the table and transports it towards the test tube rack."}, {"label": "subtasks", "start_step": 3218, "end_step": 3344, "id": "reasoning-language-00067", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green square block with the rightmost test tube and fits it onto the tube."}], "episode_index": 0}
+{"source_uid": "b2a6edef5bcefc1b", "num_frames": 2339, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 21, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_finger: Left hand slightly bends its fingers to adjust posture at the left side of the table. | Right hand: reach: Right hand moves from the right side of the table towards the green block located at the lower left of the wooden base."}, {"label": "goal", "start_step": 0, "end_step": 138, "id": "ae14e2db-682a-4c95-a57f-94117b13f791"}, {"label": "valid", "start_step": 0, "end_step": 2309, "id": "ncQo1MFoCTl72_WGW8eJC"}, {"label": "subtasks", "start_step": 22, "end_step": 59, "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 from the right side of the table towards the green block located at the lower left of the wooden base."}, {"label": "subtasks", "start_step": 60, "end_step": 97, "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 to grasp the green block on the black table."}, {"label": "subtasks", "start_step": 98, "end_step": 134, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green block without moving after establishing stable grasp."}, {"label": "subtasks", "start_step": 135, "end_step": 164, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green cubic block from the black table surface."}, {"label": "goal", "start_step": 139, "end_step": 261, "id": "1101ad0b-d311-4ceb-8c68-e205559cdd83"}, {"label": "subtasks", "start_step": 165, "end_step": 201, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green cubic block to the position above the leftmost purple rod on the wooden base."}, {"label": "subtasks", "start_step": 202, "end_step": 254, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green cubic block onto the leftmost purple rod of the wooden base."}, {"label": "subtasks", "start_step": 255, "end_step": 284, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white ring onto the purple peg on the wooden base and releases the ring."}, {"label": "goal", "start_step": 262, "end_step": 352, "id": "517e5683-fe13-467c-be58-efdd5eeb5d1f"}, {"label": "subtasks", "start_step": 285, "end_step": 307, "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 downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 308, "end_step": 329, "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 white hexagonal block on the table with fingers closing around the block."}, {"label": "subtasks", "start_step": 330, "end_step": 344, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block without moving."}, {"label": "subtasks", "start_step": 345, "end_step": 367, "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 grasps the white hexagonal block placed on the black table."}, {"label": "goal", "start_step": 353, "end_step": 569, "id": "82362305-9096-4268-8710-e04306eb39af"}, {"label": "subtasks", "start_step": 368, "end_step": 389, "id": "reasoning-language-00013", "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 white hexagonal block from the table and transports it to above the leftmost purple rod of the rack."}, {"label": "subtasks", "start_step": 390, "end_step": 427, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the leftmost purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 428, "end_step": 569, "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 white hexagonal block downwards along the purple rod to secure it in place."}, {"label": "subtasks", "start_step": 570, "end_step": 591, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white block onto the purple peg of the wooden base to secure it."}, {"label": "goal", "start_step": 570, "end_step": 674, "id": "c5bacf19-1a67-44e2-a76d-6c2441558946"}, {"label": "subtasks", "start_step": 592, "end_step": 621, "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 downwards towards the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 622, "end_step": 674, "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 its fingers around the white hexagonal block on the table to establish a stable grip."}, {"label": "subtasks", "start_step": 675, "end_step": 697, "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 grasps the white hexagonal block on the black tabletop."}, {"label": "goal", "start_step": 675, "end_step": 840, "id": "53320651-61eb-4af4-94d8-454f8dd093c2"}, {"label": "subtasks", "start_step": 698, "end_step": 719, "id": "reasoning-language-00020", "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 white hexagonal block from the tabletop and transports it above the leftmost purple peg of the wooden rack."}, {"label": "subtasks", "start_step": 720, "end_step": 817, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the leftmost purple peg of the wooden rack by aligning and lowering it."}, {"label": "subtasks", "start_step": 818, "end_step": 839, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the leftmost purple peg without moving."}, {"label": "subtasks", "start_step": 840, "end_step": 869, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical block on the purple rod of the wooden base and moves away."}, {"label": "goal", "start_step": 841, "end_step": 906, "id": "a1169ea2-b6df-4b25-be85-471fe8dd1945"}, {"label": "subtasks", "start_step": 870, "end_step": 891, "id": "reasoning-language-00024", "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 white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 892, "end_step": 914, "id": "reasoning-language-00025", "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 grasp the white hexagonal block on the black table surface."}, {"label": "goal", "start_step": 907, "end_step": 1108, "id": "eb3a6830-71b1-459b-bd84-12c434b9ba81"}, {"label": "subtasks", "start_step": 915, "end_step": 929, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block upward off the black table surface."}, {"label": "subtasks", "start_step": 930, "end_step": 951, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand carries the white hexagonal block upward toward the wooden base with purple rods."}, {"label": "subtasks", "start_step": 952, "end_step": 989, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand lowers the white hexagonal block onto the empty purple rod of the wooden base."}, {"label": "subtasks", "start_step": 990, "end_step": 1094, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white hexagonal block downward to secure it onto the purple rod."}, {"label": "subtasks", "start_step": 1095, "end_step": 1131, "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 white cylindrical block onto the purple rod on the wooden base."}, {"label": "goal", "start_step": 1109, "end_step": 1286, "id": "920403af-ba83-450e-b847-8f2d72978182"}, {"label": "subtasks", "start_step": 1132, "end_step": 1161, "id": "reasoning-language-00031", "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 green hollow block on the black table."}, {"label": "subtasks", "start_step": 1162, "end_step": 1251, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp_release: Right hand grasps the green hollow block on the table and then releases it."}, {"label": "subtasks", "start_step": 1252, "end_step": 1274, "id": "reasoning-language-00033", "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 green hollow block without moving."}, {"label": "subtasks", "start_step": 1275, "end_step": 1304, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to form a stable grip on the green block placed on the black table."}, {"label": "goal", "start_step": 1287, "end_step": 1412, "id": "55b7c4a7-eb3e-4431-a060-95099ec98765"}, {"label": "subtasks", "start_step": 1305, "end_step": 1327, "id": "reasoning-language-00035", "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 green block off the table and transports it towards the target peg on the wooden base."}, {"label": "subtasks", "start_step": 1328, "end_step": 1394, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the target peg and inserts it down onto the peg."}, {"label": "subtasks", "start_step": 1395, "end_step": 1409, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand opens fingers to release the green block that is fitted on the peg."}, {"label": "subtasks", "start_step": 1410, "end_step": 1439, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white hexagonal block onto the purple peg of the wooden base and releases the grip on the block."}, {"label": "goal", "start_step": 1413, "end_step": 1493, "id": "661e30f8-976e-4ae2-b964-45a35d9ccd53"}, {"label": "subtasks", "start_step": 1440, "end_step": 1454, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand moves downward away from the assembly area toward the white hexagonal blocks on the table."}, {"label": "subtasks", "start_step": 1455, "end_step": 1484, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: idle: Right hand remains empty above the table surface without moving."}, {"label": "subtasks", "start_step": 1485, "end_step": 1514, "id": "reasoning-language-00041", "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 white hexagonal part on the black table stably."}, {"label": "goal", "start_step": 1494, "end_step": 1632, "id": "1cf25fcf-691c-4c39-9404-4c79adc4c1e4"}, {"label": "subtasks", "start_step": 1515, "end_step": 1537, "id": "reasoning-language-00042", "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 white hexagonal part and transports it towards the purple rod on the wooden bracket."}, {"label": "subtasks", "start_step": 1538, "end_step": 1619, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal part onto the purple rod of the wooden bracket, adjusting position to fit."}, {"label": "subtasks", "start_step": 1620, "end_step": 1657, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white ring onto the purple rod on the wooden base and releases the ring."}, {"label": "goal", "start_step": 1633, "end_step": 1710, "id": "09955c84-2cff-4106-aee9-f7026e40817a"}, {"label": "subtasks", "start_step": 1658, "end_step": 1694, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the upper white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 1695, "end_step": 1731, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the upper white hexagonal block on the black table."}, {"label": "goal", "start_step": 1711, "end_step": 1818, "id": "9ba8d6c3-6e1e-4725-9faf-569f24be2e12"}, {"label": "subtasks", "start_step": 1732, "end_step": 1777, "id": "reasoning-language-00047", "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 white hexagonal block from the table and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1778, "end_step": 1814, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1815, "end_step": 1844, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white cylinder onto the purple rod on the wooden base."}, {"label": "goal", "start_step": 1819, "end_step": 1894, "id": "a8291a8a-ed8c-47d7-8de5-911d841df2e4"}, {"label": "subtasks", "start_step": 1845, "end_step": 1867, "id": "reasoning-language-00050", "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 white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1868, "end_step": 1919, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table surface, fingers close around the block."}, {"label": "goal", "start_step": 1895, "end_step": 2039, "id": "d3e1473b-457a-4fcb-94fb-1c8fef8457a1"}, {"label": "subtasks", "start_step": 1920, "end_step": 1949, "id": "reasoning-language-00052", "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 white hollow block from the tabletop and transports it above the purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 1950, "end_step": 1979, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hollow block onto the purple peg of the wooden rack."}, {"label": "subtasks", "start_step": 1980, "end_step": 2039, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hollow block on the purple peg without moving."}, {"label": "subtasks", "start_step": 2040, "end_step": 2061, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the purple rod on the white cylinder at the front right of the wooden base."}, {"label": "goal", "start_step": 2040, "end_step": 2119, "id": "c4a67dae-f9de-4754-b1a2-b3d7a2c47ee8"}, {"label": "subtasks", "start_step": 2062, "end_step": 2091, "id": "reasoning-language-00056", "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 square block on the black table surface."}, {"label": "subtasks", "start_step": 2092, "end_step": 2137, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green square block on the black table surface."}, {"label": "goal", "start_step": 2120, "end_step": 2266, "id": "ce2ae5d7-13ab-4eb2-a28c-4436b147b7da"}, {"label": "subtasks", "start_step": 2138, "end_step": 2174, "id": "reasoning-language-00058", "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 green block off the table and transports it towards the white bottle on the right side of the wooden rack."}, {"label": "subtasks", "start_step": 2175, "end_step": 2279, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the white bottle and inserts it onto the bottle to complete assembly."}, {"label": "home", "start_step": 2310, "end_step": 2338, "id": "qP-QkPY4ibylpRFbWHxRR"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 21, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_finger: Left hand slightly bends its fingers to adjust posture at the left side of the table. | Right hand: reach: Right hand moves from the right side of the table towards the green block located at the lower left of the wooden base."}, {"label": "subtasks", "start_step": 22, "end_step": 59, "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 from the right side of the table towards the green block located at the lower left of the wooden base."}, {"label": "subtasks", "start_step": 60, "end_step": 97, "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 to grasp the green block on the black table."}, {"label": "subtasks", "start_step": 98, "end_step": 134, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green block without moving after establishing stable grasp."}, {"label": "subtasks", "start_step": 135, "end_step": 164, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green cubic block from the black table surface."}, {"label": "subtasks", "start_step": 165, "end_step": 201, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green cubic block to the position above the leftmost purple rod on the wooden base."}, {"label": "subtasks", "start_step": 202, "end_step": 254, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green cubic block onto the leftmost purple rod of the wooden base."}, {"label": "subtasks", "start_step": 255, "end_step": 284, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white ring onto the purple peg on the wooden base and releases the ring."}, {"label": "subtasks", "start_step": 285, "end_step": 307, "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 downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 308, "end_step": 329, "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 white hexagonal block on the table with fingers closing around the block."}, {"label": "subtasks", "start_step": 330, "end_step": 344, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block without moving."}, {"label": "subtasks", "start_step": 345, "end_step": 367, "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 grasps the white hexagonal block placed on the black table."}, {"label": "subtasks", "start_step": 368, "end_step": 389, "id": "reasoning-language-00013", "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 white hexagonal block from the table and transports it to above the leftmost purple rod of the rack."}, {"label": "subtasks", "start_step": 390, "end_step": 427, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the leftmost purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 428, "end_step": 569, "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 white hexagonal block downwards along the purple rod to secure it in place."}, {"label": "subtasks", "start_step": 570, "end_step": 591, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white block onto the purple peg of the wooden base to secure it."}, {"label": "subtasks", "start_step": 592, "end_step": 621, "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 downwards towards the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 622, "end_step": 674, "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 its fingers around the white hexagonal block on the table to establish a stable grip."}, {"label": "subtasks", "start_step": 675, "end_step": 697, "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 grasps the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 698, "end_step": 719, "id": "reasoning-language-00020", "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 white hexagonal block from the tabletop and transports it above the leftmost purple peg of the wooden rack."}, {"label": "subtasks", "start_step": 720, "end_step": 817, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the leftmost purple peg of the wooden rack by aligning and lowering it."}, {"label": "subtasks", "start_step": 818, "end_step": 839, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the leftmost purple peg without moving."}, {"label": "subtasks", "start_step": 840, "end_step": 869, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical block on the purple rod of the wooden base and moves away."}, {"label": "subtasks", "start_step": 870, "end_step": 891, "id": "reasoning-language-00024", "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 white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 892, "end_step": 914, "id": "reasoning-language-00025", "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 grasp the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 915, "end_step": 929, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block upward off the black table surface."}, {"label": "subtasks", "start_step": 930, "end_step": 951, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand carries the white hexagonal block upward toward the wooden base with purple rods."}, {"label": "subtasks", "start_step": 952, "end_step": 989, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand lowers the white hexagonal block onto the empty purple rod of the wooden base."}, {"label": "subtasks", "start_step": 990, "end_step": 1094, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white hexagonal block downward to secure it onto the purple rod."}, {"label": "subtasks", "start_step": 1095, "end_step": 1131, "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 white cylindrical block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1132, "end_step": 1161, "id": "reasoning-language-00031", "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 green hollow block on the black table."}, {"label": "subtasks", "start_step": 1162, "end_step": 1251, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp_release: Right hand grasps the green hollow block on the table and then releases it."}, {"label": "subtasks", "start_step": 1252, "end_step": 1274, "id": "reasoning-language-00033", "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 green hollow block without moving."}, {"label": "subtasks", "start_step": 1275, "end_step": 1304, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to form a stable grip on the green block placed on the black table."}, {"label": "subtasks", "start_step": 1305, "end_step": 1327, "id": "reasoning-language-00035", "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 green block off the table and transports it towards the target peg on the wooden base."}, {"label": "subtasks", "start_step": 1328, "end_step": 1394, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the target peg and inserts it down onto the peg."}, {"label": "subtasks", "start_step": 1395, "end_step": 1409, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand opens fingers to release the green block that is fitted on the peg."}, {"label": "subtasks", "start_step": 1410, "end_step": 1439, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white hexagonal block onto the purple peg of the wooden base and releases the grip on the block."}, {"label": "subtasks", "start_step": 1440, "end_step": 1454, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand moves downward away from the assembly area toward the white hexagonal blocks on the table."}, {"label": "subtasks", "start_step": 1455, "end_step": 1484, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: idle: Right hand remains empty above the table surface without moving."}, {"label": "subtasks", "start_step": 1485, "end_step": 1514, "id": "reasoning-language-00041", "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 white hexagonal part on the black table stably."}, {"label": "subtasks", "start_step": 1515, "end_step": 1537, "id": "reasoning-language-00042", "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 white hexagonal part and transports it towards the purple rod on the wooden bracket."}, {"label": "subtasks", "start_step": 1538, "end_step": 1619, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal part onto the purple rod of the wooden bracket, adjusting position to fit."}, {"label": "subtasks", "start_step": 1620, "end_step": 1657, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white ring onto the purple rod on the wooden base and releases the ring."}, {"label": "subtasks", "start_step": 1658, "end_step": 1694, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the upper white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 1695, "end_step": 1731, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the upper white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 1732, "end_step": 1777, "id": "reasoning-language-00047", "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 white hexagonal block from the table and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1778, "end_step": 1814, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1815, "end_step": 1844, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white cylinder onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1845, "end_step": 1867, "id": "reasoning-language-00050", "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 white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1868, "end_step": 1919, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table surface, fingers close around the block."}, {"label": "subtasks", "start_step": 1920, "end_step": 1949, "id": "reasoning-language-00052", "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 white hollow block from the tabletop and transports it above the purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 1950, "end_step": 1979, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hollow block onto the purple peg of the wooden rack."}, {"label": "subtasks", "start_step": 1980, "end_step": 2039, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hollow block on the purple peg without moving."}, {"label": "subtasks", "start_step": 2040, "end_step": 2061, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the purple rod on the white cylinder at the front right of the wooden base."}, {"label": "subtasks", "start_step": 2062, "end_step": 2091, "id": "reasoning-language-00056", "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 square block on the black table surface."}, {"label": "subtasks", "start_step": 2092, "end_step": 2137, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green square block on the black table surface."}, {"label": "subtasks", "start_step": 2138, "end_step": 2174, "id": "reasoning-language-00058", "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 green block off the table and transports it towards the white bottle on the right side of the wooden rack."}, {"label": "subtasks", "start_step": 2175, "end_step": 2279, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the white bottle and inserts it onto the bottle to complete assembly."}], "episode_index": 1}
+{"source_uid": "8612c142a2f9c198", "num_frames": 2138, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 37, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: idle: Right hand remains empty at the right side of the workspace without obvious positional movement."}, {"label": "goal", "start_step": 0, "end_step": 128, "id": "fd371b04-d2b4-48c5-9b32-1c5b30b2ffb7"}, {"label": "valid", "start_step": 0, "end_step": 2109, "id": "kaJbddUh6KdCqWNGzRZTT"}, {"label": "subtasks", "start_step": 38, "end_step": 81, "id": "reasoning-language-00002", "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 green hexagonal nut placed in front-left of the wooden block with an empty hand, fingers kept slightly extended."}, {"label": "subtasks", "start_step": 82, "end_step": 157, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: grasp: Right hand contacts the green hexagonal nut on the table surface, fingers gradually close and adjust contact points to establish a grasp, the nut remains supported by the table."}, {"label": "goal", "start_step": 129, "end_step": 267, "id": "6ce07864-9ea6-4cee-838d-ebc1903326b2"}, {"label": "subtasks", "start_step": 158, "end_step": 187, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block off the table and moves it upward to position it directly above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 188, "end_step": 217, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: mate: Right hand slightly adjusts the position of the green hexagonal block to align its central hole with the purple peg below."}, {"label": "subtasks", "start_step": 218, "end_step": 231, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: place: Right hand lowers the aligned green hexagonal block down along the purple peg until it rests stably on the supporting block beneath."}, {"label": "subtasks", "start_step": 232, "end_step": 254, "id": "reasoning-language-00007", "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 placed green hexagonal block on the purple peg without any observable movement or grip adjustment."}, {"label": "subtasks", "start_step": 255, "end_step": 277, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: place_release: Right hand places the white hexagonal block onto the purple peg of the wooden pegboard, releases the block to rest stably on the peg."}, {"label": "goal", "start_step": 268, "end_step": 338, "id": "8cceb5d9-8815-46eb-81f7-b18db0b9cbd9"}, {"label": "subtasks", "start_step": 278, "end_step": 299, "id": "reasoning-language-00009", "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 downward empty toward the green hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 300, "end_step": 359, "id": "reasoning-language-00010", "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 to contact and grasp the green hexagonal block on the table surface."}, {"label": "goal", "start_step": 339, "end_step": 475, "id": "dd39b76b-6d56-42d1-91a3-4ced304a42da"}, {"label": "subtasks", "start_step": 360, "end_step": 381, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the black table surface and moves it to position directly above the leftmost purple peg on the wooden assembly block."}, {"label": "subtasks", "start_step": 382, "end_step": 411, "id": "reasoning-language-00012", "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 and orientation of the white hexagonal nut to align its central hole with the leftmost purple peg."}, {"label": "subtasks", "start_step": 412, "end_step": 464, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: place: Right hand lowers the white hexagonal nut down along the purple peg until it rests stably on the green base of the wooden assembly block."}, {"label": "subtasks", "start_step": 465, "end_step": 517, "id": "reasoning-language-00014", "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 downward and forward from the pegboard area toward the white hexagonal nut placed on the table, with fingers kept open."}, {"label": "goal", "start_step": 476, "end_step": 572, "id": "31b7d70a-814b-4686-aead-18e312abb925"}, {"label": "subtasks", "start_step": 518, "end_step": 569, "id": "reasoning-language-00015", "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 and adjusts wrist posture to grasp the white hexagonal nut on the table, with the nut remaining on the table surface."}, {"label": "subtasks", "start_step": 570, "end_step": 591, "id": "reasoning-language-00016", "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 white hexagonal nut above the scattered parts on the table in a stationary position."}, {"label": "goal", "start_step": 573, "end_step": 703, "id": "5dd1af31-df20-4023-bcd2-c6b287511f18"}, {"label": "subtasks", "start_step": 592, "end_step": 621, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal nut upward and transports it to the position directly above the empty purple rod on the wooden assembly block."}, {"label": "subtasks", "start_step": 622, "end_step": 659, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the target purple rod and lowers the nut to fit it onto the rod."}, {"label": "subtasks", "start_step": 660, "end_step": 689, "id": "reasoning-language-00019", "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 white hexagonal nut fitted on the purple rod without any visible movement or grip adjustment."}, {"label": "subtasks", "start_step": 690, "end_step": 734, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: place_release: Right hand holds the white cylindrical block, moves it downward onto the matching peg on the wooden pegboard, releasing fingers to leave the block stably supported by the peg."}, {"label": "goal", "start_step": 704, "end_step": 780, "id": "7d89d576-55a4-4f43-916e-ba92444e9859"}, {"label": "subtasks", "start_step": 735, "end_step": 779, "id": "reasoning-language-00021", "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 downward empty toward the white hexagonal block placed on the dark table surface in front of the pegboard, approaching the block without establishing contact."}, {"label": "subtasks", "start_step": 780, "end_step": 801, "id": "reasoning-language-00022", "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 white hexagonal block on the table, adjusting contact points to establish a stable grasp on the block."}, {"label": "goal", "start_step": 781, "end_step": 944, "id": "6bf3d996-0e96-486c-8b9c-d6ffb4af28b6"}, {"label": "subtasks", "start_step": 802, "end_step": 831, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and transports it upward to position directly above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 832, "end_step": 937, "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: mate: Right hand aligns the central hole of the white hexagonal nut with the purple rod, lowers the nut onto the rod and makes slight adjustments to fit it properly onto the rod."}, {"label": "subtasks", "start_step": 938, "end_step": 944, "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: release: Right hand opens fingers to release the white hexagonal nut that is fitted on the purple rod."}, {"label": "subtasks", "start_step": 945, "end_step": 981, "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: reach: Right hand moves downward from above the block rack toward the green hexagonal block on the table surface."}, {"label": "goal", "start_step": 945, "end_step": 1008, "id": "36727718-5878-47b0-b6b3-d2e86989cc70"}, {"label": "subtasks", "start_step": 982, "end_step": 1027, "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: grasp: Right hand closes fingers around the green hexagonal block on the table, adjusting finger positions to form a stable grasp."}, {"label": "goal", "start_step": 1009, "end_step": 1141, "id": "2726d00c-34ef-46db-a9c9-3282569891a6"}, {"label": "subtasks", "start_step": 1028, "end_step": 1057, "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: lift_transport: Right hand lifts the green hexagonal block off the table surface and moves it upward to the position above the purple peg on the block rack."}, {"label": "subtasks", "start_step": 1058, "end_step": 1139, "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: mate: Right hand aligns the green hexagonal block with the purple peg on the rack and moves it downward to fit the block onto the peg."}, {"label": "subtasks", "start_step": 1140, "end_step": 1184, "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: reach: Right hand moves downward toward the white hexagonal nut placed on the black table surface, with fingers slightly open."}, {"label": "goal", "start_step": 1142, "end_step": 1202, "id": "2b6aef79-1544-4d97-b988-baef97537682"}, {"label": "subtasks", "start_step": 1185, "end_step": 1221, "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: grasp: Right hand closes fingers around the white hexagonal nut on the table to establish a stable grasp, with the nut remaining on the table surface."}, {"label": "goal", "start_step": 1203, "end_step": 1342, "id": "2f4b624c-47b9-4b18-af45-f1bb372f0f5c"}, {"label": "subtasks", "start_step": 1222, "end_step": 1251, "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: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward to the position above the purple rod on the wooden block base."}, {"label": "subtasks", "start_step": 1252, "end_step": 1334, "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: mate: Right hand aligns the hole of the white hexagonal nut with the purple rod, lowers the nut to fit onto the rod with small position adjustments."}, {"label": "subtasks", "start_step": 1335, "end_step": 1387, "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: reach: Right hand moves from the area above the wooden block assembly stand toward the nearer white hexagonal nut on the table, with fingers held slightly open."}, {"label": "goal", "start_step": 1343, "end_step": 1412, "id": "3f4a2149-cd4e-44bb-a4cc-f4fde8e5a39d"}, {"label": "subtasks", "start_step": 1388, "end_step": 1409, "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: grasp: Right hand closes fingers around the nearer white hexagonal nut on the table to establish a grip, with the nut remaining on the table surface."}, {"label": "subtasks", "start_step": 1410, "end_step": 1454, "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: Right hand holds the white hexagonal block and moves upward and leftward to the position directly above the empty vertical rod on the wooden base."}, {"label": "goal", "start_step": 1413, "end_step": 1611, "id": "8bedf596-1c44-42e8-9686-a50c6f3d5bc6"}, {"label": "subtasks", "start_step": 1455, "end_step": 1491, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the target vertical rod and inserts the block onto the rod."}, {"label": "subtasks", "start_step": 1492, "end_step": 1567, "id": "reasoning-language-00038", "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 white hexagonal block on the vertical rod without any observable movement of the hand or block."}, {"label": "subtasks", "start_step": 1568, "end_step": 1604, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: place_release: Right hand moves the white hexagonal block downward along the rod until it rests on the supporting surface below, opening fingers to release the block."}, {"label": "subtasks", "start_step": 1605, "end_step": 1641, "id": "reasoning-language-00040", "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 downward empty toward the white hexagonal nut placed on the dark gray table surface."}, {"label": "goal", "start_step": 1612, "end_step": 1708, "id": "94b22948-214c-4681-9466-bf34dcb5cd34"}, {"label": "subtasks", "start_step": 1642, "end_step": 1664, "id": "reasoning-language-00041", "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 its fingers around the white hexagonal nut to form a stable grip on the object."}, {"label": "subtasks", "start_step": 1665, "end_step": 1731, "id": "reasoning-language-00042", "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 grasped white hexagonal nut on the table surface without any observable movement of the hand or the nut."}, {"label": "goal", "start_step": 1709, "end_step": 1865, "id": "004ca76b-987e-4835-ae5e-209aa16f4098"}, {"label": "subtasks", "start_step": 1732, "end_step": 1761, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface, moves it upward and leftward to the position directly above the purple rod mounted on the wooden block stand."}, {"label": "subtasks", "start_step": 1762, "end_step": 1859, "id": "reasoning-language-00044", "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 posture of the white hexagonal block to align its central hole with the purple rod, lowers the block to fit it onto the rod until the block is stably supported on the rod."}, {"label": "subtasks", "start_step": 1860, "end_step": 1904, "id": "reasoning-language-00045", "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 in a downward-right direction toward the green square block on the table surface."}, {"label": "goal", "start_step": 1866, "end_step": 1939, "id": "26a4b31c-2d61-4961-ae7d-7ced59daa330"}, {"label": "subtasks", "start_step": 1905, "end_step": 1934, "id": "reasoning-language-00046", "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 green square block, adjusting finger contact positions to establish a grip."}, {"label": "subtasks", "start_step": 1935, "end_step": 1949, "id": "reasoning-language-00047", "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 green hollow block stationary on the black table surface."}, {"label": "goal", "start_step": 1940, "end_step": 2073, "id": "d85871e0-ceb8-40b6-9da2-4abadfac4a7f"}, {"label": "subtasks", "start_step": 1950, "end_step": 1987, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: lift_transport: Right hand lifts the green hollow block off the table surface and transports it upward and leftward to the position directly above the purple post on the wooden block rack."}, {"label": "subtasks", "start_step": 1988, "end_step": 2084, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: mate_release: Right hand aligns the green hollow block with the purple post on the wooden rack, lowers the block to nest it onto the post, and opens its fingers to release the secured block."}, {"label": "home", "start_step": 2110, "end_step": 2137, "id": "3LIqxdCiRDdtPA7Fh0DGA"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 37, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: idle: Right hand remains empty at the right side of the workspace without obvious positional movement."}, {"label": "subtasks", "start_step": 38, "end_step": 81, "id": "reasoning-language-00002", "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 green hexagonal nut placed in front-left of the wooden block with an empty hand, fingers kept slightly extended."}, {"label": "subtasks", "start_step": 82, "end_step": 157, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: grasp: Right hand contacts the green hexagonal nut on the table surface, fingers gradually close and adjust contact points to establish a grasp, the nut remains supported by the table."}, {"label": "subtasks", "start_step": 158, "end_step": 187, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block off the table and moves it upward to position it directly above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 188, "end_step": 217, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: mate: Right hand slightly adjusts the position of the green hexagonal block to align its central hole with the purple peg below."}, {"label": "subtasks", "start_step": 218, "end_step": 231, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: place: Right hand lowers the aligned green hexagonal block down along the purple peg until it rests stably on the supporting block beneath."}, {"label": "subtasks", "start_step": 232, "end_step": 254, "id": "reasoning-language-00007", "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 placed green hexagonal block on the purple peg without any observable movement or grip adjustment."}, {"label": "subtasks", "start_step": 255, "end_step": 277, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: place_release: Right hand places the white hexagonal block onto the purple peg of the wooden pegboard, releases the block to rest stably on the peg."}, {"label": "subtasks", "start_step": 278, "end_step": 299, "id": "reasoning-language-00009", "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 downward empty toward the green hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 300, "end_step": 359, "id": "reasoning-language-00010", "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 to contact and grasp the green hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 360, "end_step": 381, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the black table surface and moves it to position directly above the leftmost purple peg on the wooden assembly block."}, {"label": "subtasks", "start_step": 382, "end_step": 411, "id": "reasoning-language-00012", "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 and orientation of the white hexagonal nut to align its central hole with the leftmost purple peg."}, {"label": "subtasks", "start_step": 412, "end_step": 464, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: place: Right hand lowers the white hexagonal nut down along the purple peg until it rests stably on the green base of the wooden assembly block."}, {"label": "subtasks", "start_step": 465, "end_step": 517, "id": "reasoning-language-00014", "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 downward and forward from the pegboard area toward the white hexagonal nut placed on the table, with fingers kept open."}, {"label": "subtasks", "start_step": 518, "end_step": 569, "id": "reasoning-language-00015", "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 and adjusts wrist posture to grasp the white hexagonal nut on the table, with the nut remaining on the table surface."}, {"label": "subtasks", "start_step": 570, "end_step": 591, "id": "reasoning-language-00016", "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 white hexagonal nut above the scattered parts on the table in a stationary position."}, {"label": "subtasks", "start_step": 592, "end_step": 621, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal nut upward and transports it to the position directly above the empty purple rod on the wooden assembly block."}, {"label": "subtasks", "start_step": 622, "end_step": 659, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the target purple rod and lowers the nut to fit it onto the rod."}, {"label": "subtasks", "start_step": 660, "end_step": 689, "id": "reasoning-language-00019", "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 white hexagonal nut fitted on the purple rod without any visible movement or grip adjustment."}, {"label": "subtasks", "start_step": 690, "end_step": 734, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: place_release: Right hand holds the white cylindrical block, moves it downward onto the matching peg on the wooden pegboard, releasing fingers to leave the block stably supported by the peg."}, {"label": "subtasks", "start_step": 735, "end_step": 779, "id": "reasoning-language-00021", "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 downward empty toward the white hexagonal block placed on the dark table surface in front of the pegboard, approaching the block without establishing contact."}, {"label": "subtasks", "start_step": 780, "end_step": 801, "id": "reasoning-language-00022", "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 white hexagonal block on the table, adjusting contact points to establish a stable grasp on the block."}, {"label": "subtasks", "start_step": 802, "end_step": 831, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and transports it upward to position directly above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 832, "end_step": 937, "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: mate: Right hand aligns the central hole of the white hexagonal nut with the purple rod, lowers the nut onto the rod and makes slight adjustments to fit it properly onto the rod."}, {"label": "subtasks", "start_step": 938, "end_step": 944, "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: release: Right hand opens fingers to release the white hexagonal nut that is fitted on the purple rod."}, {"label": "subtasks", "start_step": 945, "end_step": 981, "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: reach: Right hand moves downward from above the block rack toward the green hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 982, "end_step": 1027, "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: grasp: Right hand closes fingers around the green hexagonal block on the table, adjusting finger positions to form a stable grasp."}, {"label": "subtasks", "start_step": 1028, "end_step": 1057, "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: lift_transport: Right hand lifts the green hexagonal block off the table surface and moves it upward to the position above the purple peg on the block rack."}, {"label": "subtasks", "start_step": 1058, "end_step": 1139, "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: mate: Right hand aligns the green hexagonal block with the purple peg on the rack and moves it downward to fit the block onto the peg."}, {"label": "subtasks", "start_step": 1140, "end_step": 1184, "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: reach: Right hand moves downward toward the white hexagonal nut placed on the black table surface, with fingers slightly open."}, {"label": "subtasks", "start_step": 1185, "end_step": 1221, "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: grasp: Right hand closes fingers around the white hexagonal nut on the table to establish a stable grasp, with the nut remaining on the table surface."}, {"label": "subtasks", "start_step": 1222, "end_step": 1251, "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: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward to the position above the purple rod on the wooden block base."}, {"label": "subtasks", "start_step": 1252, "end_step": 1334, "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: mate: Right hand aligns the hole of the white hexagonal nut with the purple rod, lowers the nut to fit onto the rod with small position adjustments."}, {"label": "subtasks", "start_step": 1335, "end_step": 1387, "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: reach: Right hand moves from the area above the wooden block assembly stand toward the nearer white hexagonal nut on the table, with fingers held slightly open."}, {"label": "subtasks", "start_step": 1388, "end_step": 1409, "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: grasp: Right hand closes fingers around the nearer white hexagonal nut on the table to establish a grip, with the nut remaining on the table surface."}, {"label": "subtasks", "start_step": 1410, "end_step": 1454, "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: Right hand holds the white hexagonal block and moves upward and leftward to the position directly above the empty vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 1455, "end_step": 1491, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the target vertical rod and inserts the block onto the rod."}, {"label": "subtasks", "start_step": 1492, "end_step": 1567, "id": "reasoning-language-00038", "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 white hexagonal block on the vertical rod without any observable movement of the hand or block."}, {"label": "subtasks", "start_step": 1568, "end_step": 1604, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: place_release: Right hand moves the white hexagonal block downward along the rod until it rests on the supporting surface below, opening fingers to release the block."}, {"label": "subtasks", "start_step": 1605, "end_step": 1641, "id": "reasoning-language-00040", "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 downward empty toward the white hexagonal nut placed on the dark gray table surface."}, {"label": "subtasks", "start_step": 1642, "end_step": 1664, "id": "reasoning-language-00041", "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 its fingers around the white hexagonal nut to form a stable grip on the object."}, {"label": "subtasks", "start_step": 1665, "end_step": 1731, "id": "reasoning-language-00042", "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 grasped white hexagonal nut on the table surface without any observable movement of the hand or the nut."}, {"label": "subtasks", "start_step": 1732, "end_step": 1761, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface, moves it upward and leftward to the position directly above the purple rod mounted on the wooden block stand."}, {"label": "subtasks", "start_step": 1762, "end_step": 1859, "id": "reasoning-language-00044", "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 posture of the white hexagonal block to align its central hole with the purple rod, lowers the block to fit it onto the rod until the block is stably supported on the rod."}, {"label": "subtasks", "start_step": 1860, "end_step": 1904, "id": "reasoning-language-00045", "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 in a downward-right direction toward the green square block on the table surface."}, {"label": "subtasks", "start_step": 1905, "end_step": 1934, "id": "reasoning-language-00046", "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 green square block, adjusting finger contact positions to establish a grip."}, {"label": "subtasks", "start_step": 1935, "end_step": 1949, "id": "reasoning-language-00047", "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 green hollow block stationary on the black table surface."}, {"label": "subtasks", "start_step": 1950, "end_step": 1987, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: lift_transport: Right hand lifts the green hollow block off the table surface and transports it upward and leftward to the position directly above the purple post on the wooden block rack."}, {"label": "subtasks", "start_step": 1988, "end_step": 2084, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: mate_release: Right hand aligns the green hollow block with the purple post on the wooden rack, lowers the block to nest it onto the post, and opens its fingers to release the secured block."}], "episode_index": 2}
+{"source_uid": "67a98797019512bd", "num_frames": 2927, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_finger_posture: Left hand adjusts its finger posture with fingers closing slightly at the left side of the table. | Right hand: reach: Right hand moves leftward and downward toward the green hexagonal block on the table below the wooden rack."}, {"label": "goal", "start_step": 0, "end_step": 129, "id": "5bc7a549-6f17-4521-a95d-6f045a6a11d0"}, {"label": "valid", "start_step": 0, "end_step": 2894, "id": "p8blLRyxS6PzbRkgUN7WH"}, {"label": "subtasks", "start_step": 30, "end_step": 81, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: reach: Right hand moves leftward and downward toward the green hexagonal block on the table below the wooden rack."}, {"label": "subtasks", "start_step": 82, "end_step": 104, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: grasp: Right hand closes its fingers to grasp the green hexagonal block on the table."}, {"label": "subtasks", "start_step": 105, "end_step": 119, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: hold: Right hand holds the green hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 120, "end_step": 141, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table surface, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 130, "end_step": 382, "id": "dea483fd-6502-459b-b426-f9cdbc9676a5"}, {"label": "subtasks", "start_step": 142, "end_step": 157, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: lift: Right hand lifts the green hexagonal block upward until it fully leaves the black table surface."}, {"label": "subtasks", "start_step": 158, "end_step": 171, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: transport: Right hand transports the green hexagonal block upward and rightward to the position above the leftmost peg of the peg board."}, {"label": "subtasks", "start_step": 172, "end_step": 217, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: mate: Right hand aligns the green hexagonal block with the leftmost peg and inserts it downward onto the peg."}, {"label": "subtasks", "start_step": 218, "end_step": 374, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: hold: Right hand holds the green hexagonal block fitted on the leftmost peg of the peg board without moving."}, {"label": "subtasks", "start_step": 375, "end_step": 397, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: mate_release: Right hand fits the white ring-shaped part onto the leftmost purple peg of the wooden base and releases its grip."}, {"label": "goal", "start_step": 383, "end_step": 452, "id": "928c066f-17fe-4f1a-8ad7-11150776329a"}, {"label": "subtasks", "start_step": 398, "end_step": 427, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: reach: Right hand moves downward from the wooden base area toward the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 428, "end_step": 509, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the black table."}, {"label": "goal", "start_step": 453, "end_step": 779, "id": "4365bde2-ce45-4976-a702-67a8058289eb"}, {"label": "subtasks", "start_step": 510, "end_step": 539, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: lift: Right hand lifts the white hexagonal nut upward away from the black table surface."}, {"label": "subtasks", "start_step": 540, "end_step": 599, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: transport: Right hand transports the white hexagonal nut rightward and upward to the position above the leftmost purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 600, "end_step": 667, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: mate: Right hand aligns the white hexagonal nut with the leftmost purple rod and fits it down onto the rod."}, {"label": "subtasks", "start_step": 668, "end_step": 779, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: hold: Right hand holds the white hexagonal nut on the leftmost purple rod without moving."}, {"label": "subtasks", "start_step": 780, "end_step": 801, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: place: Right hand places the white hexagonal block onto the front-left purple peg of the wooden base."}, {"label": "goal", "start_step": 780, "end_step": 877, "id": "e9c60a8a-20c9-44d0-91bb-1aa1f9acac8f"}, {"label": "subtasks", "start_step": 802, "end_step": 831, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: release_reach: Right hand releases the white hexagonal block on the peg and reaches toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 832, "end_step": 899, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface with fingers adjusting to stabilize the grip."}, {"label": "goal", "start_step": 878, "end_step": 1113, "id": "671b674a-3756-459f-8e6d-55c2fe0d0158"}, {"label": "subtasks", "start_step": 900, "end_step": 921, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the black table and moves it above the leftmost purple peg on the wooden pegboard."}, {"label": "subtasks", "start_step": 922, "end_step": 1094, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: mate: Right hand aligns the white hexagonal block with the leftmost purple peg and inserts it downwards to fully assemble the block onto the peg."}, {"label": "subtasks", "start_step": 1095, "end_step": 1109, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: release: Right hand releases the white hexagonal block on the leftmost purple peg by opening its fingers."}, {"label": "subtasks", "start_step": 1110, "end_step": 1154, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: reach: Right hand moves downward from the pegboard area to approach the white hexagonal block on the table with empty hand."}, {"label": "goal", "start_step": 1114, "end_step": 1251, "id": "8c3983d4-8bb9-446e-9d15-bc520a30b3bb"}, {"label": "subtasks", "start_step": 1155, "end_step": 1177, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: grasp: Right hand contacts the white hexagonal block on the table and adjusts fingers to form a stable grasp."}, {"label": "subtasks", "start_step": 1178, "end_step": 1244, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it upward and backward toward the pegboard."}, {"label": "subtasks", "start_step": 1245, "end_step": 1274, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: grasp: Right hand grasps the white hexagonal hollow object on the black table, with fingers closing and adjusting to form a stable grip."}, {"label": "goal", "start_step": 1252, "end_step": 1428, "id": "53254176-bb22-4a5b-a87f-0ba67f160780"}, {"label": "subtasks", "start_step": 1275, "end_step": 1297, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal hollow object off the table and transports it upward and rightward to the position above the rightmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1298, "end_step": 1424, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: mate: Right hand mates the white hexagonal hollow object with the rightmost purple peg, aligning the object's central hole with the peg and lowering the object down along the peg."}, {"label": "subtasks", "start_step": 1425, "end_step": 1447, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: place_release: Right hand places the white ring onto the purple peg of the wooden base and releases the ring."}, {"label": "goal", "start_step": 1429, "end_step": 1510, "id": "9538f862-e891-4cf1-87c4-7f8eb95077b3"}, {"label": "subtasks", "start_step": 1448, "end_step": 1484, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the table."}, {"label": "subtasks", "start_step": 1485, "end_step": 1529, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: grasp: Right hand grasps the green hexagonal block on the table with fingers closing and adjusting."}, {"label": "goal", "start_step": 1511, "end_step": 1652, "id": "f84ccf5e-c4b6-46da-90c9-7d57be903293"}, {"label": "subtasks", "start_step": 1530, "end_step": 1559, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it toward the wooden peg rack."}, {"label": "subtasks", "start_step": 1560, "end_step": 1611, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: mate: Right hand aligns the green hexagonal block with the middle peg on the wooden rack and lowers it to fit onto the peg."}, {"label": "subtasks", "start_step": 1612, "end_step": 1634, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: release: Right hand releases the green hexagonal block on the peg, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 1635, "end_step": 1649, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: idle: Right hand remains empty above the wooden peg rack without moving."}, {"label": "subtasks", "start_step": 1650, "end_step": 1671, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: release: Right hand releases the white block on the green block of the wooden peg base."}, {"label": "goal", "start_step": 1653, "end_step": 1724, "id": "9a5d6cc0-b3c7-4018-b083-6b6cf5f3055c"}, {"label": "subtasks", "start_step": 1672, "end_step": 1694, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: reach: Right hand moves downward to reach the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1695, "end_step": 1739, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 1725, "end_step": 1897, "id": "1546345b-3e23-4405-94f1-ed6b24f1c948"}, {"label": "subtasks", "start_step": 1740, "end_step": 1754, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: lift: Right hand lifts the white hexagonal block up away from the black table surface."}, {"label": "subtasks", "start_step": 1755, "end_step": 1791, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: transport: Right hand transports the white hexagonal block upward and leftward to the area above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1792, "end_step": 1837, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg and fits it onto the peg."}, {"label": "subtasks", "start_step": 1838, "end_step": 1889, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: hold: Right hand holds the white hexagonal block on the purple peg without moving."}, {"label": "subtasks", "start_step": 1890, "end_step": 1911, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: release: Right hand releases the white cylindrical block on the purple rod of the wooden rack, with fingers opening to separate from the block."}, {"label": "goal", "start_step": 1898, "end_step": 1966, "id": "76ba4b84-dc09-4f96-b747-a95d5807adf1"}, {"label": "subtasks", "start_step": 1912, "end_step": 1957, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1958, "end_step": 1987, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface, with fingers closing around the block."}, {"label": "goal", "start_step": 1967, "end_step": 2098, "id": "b8022991-913d-4539-96a6-4c0a5ff1c92f"}, {"label": "subtasks", "start_step": 1988, "end_step": 2017, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2018, "end_step": 2039, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod of the wooden base."}, {"label": "subtasks", "start_step": 2040, "end_step": 2084, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: hold: Right hand holds the white hexagonal block on the purple rod without moving."}, {"label": "subtasks", "start_step": 2085, "end_step": 2114, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: mate_release: Right hand mates the white cylindrical block with the purple peg on the wooden rack and releases the block."}, {"label": "goal", "start_step": 2099, "end_step": 2164, "id": "b8cc2682-57ba-46d6-8ede-252beaf7b2f3"}, {"label": "subtasks", "start_step": 2115, "end_step": 2144, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 2145, "end_step": 2174, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table with fingers closing and adjusting for stable grip."}, {"label": "goal", "start_step": 2165, "end_step": 2581, "id": "69da5b90-deee-4cb7-84e6-1dc827c51d69"}, {"label": "subtasks", "start_step": 2175, "end_step": 2211, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it leftward to the position above the wooden block rack with purple pegs."}, {"label": "subtasks", "start_step": 2212, "end_step": 2579, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: mate: Right hand aligns the hole of the white hexagonal block with the purple peg on the wooden rack and slowly fits the block down onto the peg."}, {"label": "subtasks", "start_step": 2580, "end_step": 2609, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: press_release: Right hand presses down and releases the top of the rightmost front white cylinder on the wooden base."}, {"label": "goal", "start_step": 2582, "end_step": 2667, "id": "4a7fd668-a8bd-440a-b439-84b48819cba9"}, {"label": "subtasks", "start_step": 2610, "end_step": 2631, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: reach: Right hand moves downward toward the green square block on the black table surface."}, {"label": "subtasks", "start_step": 2632, "end_step": 2684, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: grasp: Right hand grasps the green square block on the black table surface with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 2668, "end_step": 2856, "id": "0977daf4-ec48-40f7-90ae-8c3bad2ec3eb"}, {"label": "subtasks", "start_step": 2685, "end_step": 2707, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: lift_transport: Right hand lifts the green square ring off the table and moves it toward the set of white bottles on the wooden base."}, {"label": "subtasks", "start_step": 2708, "end_step": 2864, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: mate_release: Right hand aligns the green square ring with the top of the front-right white bottle, fits it downward onto the bottle to complete assembly and releases the ring."}, {"label": "home", "start_step": 2895, "end_step": 2926, "id": "nUcjXNUvLBRp5ONcLvQ-0"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_finger_posture: Left hand adjusts its finger posture with fingers closing slightly at the left side of the table. | Right hand: reach: Right hand moves leftward and downward toward the green hexagonal block on the table below the wooden rack."}, {"label": "subtasks", "start_step": 30, "end_step": 81, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: reach: Right hand moves leftward and downward toward the green hexagonal block on the table below the wooden rack."}, {"label": "subtasks", "start_step": 82, "end_step": 104, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: grasp: Right hand closes its fingers to grasp the green hexagonal block on the table."}, {"label": "subtasks", "start_step": 105, "end_step": 119, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: hold: Right hand holds the green hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 120, "end_step": 141, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table surface, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 142, "end_step": 157, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: lift: Right hand lifts the green hexagonal block upward until it fully leaves the black table surface."}, {"label": "subtasks", "start_step": 158, "end_step": 171, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: transport: Right hand transports the green hexagonal block upward and rightward to the position above the leftmost peg of the peg board."}, {"label": "subtasks", "start_step": 172, "end_step": 217, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: mate: Right hand aligns the green hexagonal block with the leftmost peg and inserts it downward onto the peg."}, {"label": "subtasks", "start_step": 218, "end_step": 374, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: hold: Right hand holds the green hexagonal block fitted on the leftmost peg of the peg board without moving."}, {"label": "subtasks", "start_step": 375, "end_step": 397, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: mate_release: Right hand fits the white ring-shaped part onto the leftmost purple peg of the wooden base and releases its grip."}, {"label": "subtasks", "start_step": 398, "end_step": 427, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: reach: Right hand moves downward from the wooden base area toward the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 428, "end_step": 509, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 510, "end_step": 539, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: lift: Right hand lifts the white hexagonal nut upward away from the black table surface."}, {"label": "subtasks", "start_step": 540, "end_step": 599, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: transport: Right hand transports the white hexagonal nut rightward and upward to the position above the leftmost purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 600, "end_step": 667, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: mate: Right hand aligns the white hexagonal nut with the leftmost purple rod and fits it down onto the rod."}, {"label": "subtasks", "start_step": 668, "end_step": 779, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: hold: Right hand holds the white hexagonal nut on the leftmost purple rod without moving."}, {"label": "subtasks", "start_step": 780, "end_step": 801, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: place: Right hand places the white hexagonal block onto the front-left purple peg of the wooden base."}, {"label": "subtasks", "start_step": 802, "end_step": 831, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: release_reach: Right hand releases the white hexagonal block on the peg and reaches toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 832, "end_step": 899, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface with fingers adjusting to stabilize the grip."}, {"label": "subtasks", "start_step": 900, "end_step": 921, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the black table and moves it above the leftmost purple peg on the wooden pegboard."}, {"label": "subtasks", "start_step": 922, "end_step": 1094, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: mate: Right hand aligns the white hexagonal block with the leftmost purple peg and inserts it downwards to fully assemble the block onto the peg."}, {"label": "subtasks", "start_step": 1095, "end_step": 1109, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: release: Right hand releases the white hexagonal block on the leftmost purple peg by opening its fingers."}, {"label": "subtasks", "start_step": 1110, "end_step": 1154, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: reach: Right hand moves downward from the pegboard area to approach the white hexagonal block on the table with empty hand."}, {"label": "subtasks", "start_step": 1155, "end_step": 1177, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: grasp: Right hand contacts the white hexagonal block on the table and adjusts fingers to form a stable grasp."}, {"label": "subtasks", "start_step": 1178, "end_step": 1244, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it upward and backward toward the pegboard."}, {"label": "subtasks", "start_step": 1245, "end_step": 1274, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: grasp: Right hand grasps the white hexagonal hollow object on the black table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1275, "end_step": 1297, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal hollow object off the table and transports it upward and rightward to the position above the rightmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1298, "end_step": 1424, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: mate: Right hand mates the white hexagonal hollow object with the rightmost purple peg, aligning the object's central hole with the peg and lowering the object down along the peg."}, {"label": "subtasks", "start_step": 1425, "end_step": 1447, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: place_release: Right hand places the white ring onto the purple peg of the wooden base and releases the ring."}, {"label": "subtasks", "start_step": 1448, "end_step": 1484, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the table."}, {"label": "subtasks", "start_step": 1485, "end_step": 1529, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: grasp: Right hand grasps the green hexagonal block on the table with fingers closing and adjusting."}, {"label": "subtasks", "start_step": 1530, "end_step": 1559, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it toward the wooden peg rack."}, {"label": "subtasks", "start_step": 1560, "end_step": 1611, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: mate: Right hand aligns the green hexagonal block with the middle peg on the wooden rack and lowers it to fit onto the peg."}, {"label": "subtasks", "start_step": 1612, "end_step": 1634, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: release: Right hand releases the green hexagonal block on the peg, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 1635, "end_step": 1649, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: idle: Right hand remains empty above the wooden peg rack without moving."}, {"label": "subtasks", "start_step": 1650, "end_step": 1671, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: release: Right hand releases the white block on the green block of the wooden peg base."}, {"label": "subtasks", "start_step": 1672, "end_step": 1694, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: reach: Right hand moves downward to reach the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1695, "end_step": 1739, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1740, "end_step": 1754, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: lift: Right hand lifts the white hexagonal block up away from the black table surface."}, {"label": "subtasks", "start_step": 1755, "end_step": 1791, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: transport: Right hand transports the white hexagonal block upward and leftward to the area above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1792, "end_step": 1837, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg and fits it onto the peg."}, {"label": "subtasks", "start_step": 1838, "end_step": 1889, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: hold: Right hand holds the white hexagonal block on the purple peg without moving."}, {"label": "subtasks", "start_step": 1890, "end_step": 1911, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: release: Right hand releases the white cylindrical block on the purple rod of the wooden rack, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 1912, "end_step": 1957, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1958, "end_step": 1987, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface, with fingers closing around the block."}, {"label": "subtasks", "start_step": 1988, "end_step": 2017, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2018, "end_step": 2039, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod of the wooden base."}, {"label": "subtasks", "start_step": 2040, "end_step": 2084, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: hold: Right hand holds the white hexagonal block on the purple rod without moving."}, {"label": "subtasks", "start_step": 2085, "end_step": 2114, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: mate_release: Right hand mates the white cylindrical block with the purple peg on the wooden rack and releases the block."}, {"label": "subtasks", "start_step": 2115, "end_step": 2144, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 2145, "end_step": 2174, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table with fingers closing and adjusting for stable grip."}, {"label": "subtasks", "start_step": 2175, "end_step": 2211, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it leftward to the position above the wooden block rack with purple pegs."}, {"label": "subtasks", "start_step": 2212, "end_step": 2579, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: mate: Right hand aligns the hole of the white hexagonal block with the purple peg on the wooden rack and slowly fits the block down onto the peg."}, {"label": "subtasks", "start_step": 2580, "end_step": 2609, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: press_release: Right hand presses down and releases the top of the rightmost front white cylinder on the wooden base."}, {"label": "subtasks", "start_step": 2610, "end_step": 2631, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: reach: Right hand moves downward toward the green square block on the black table surface."}, {"label": "subtasks", "start_step": 2632, "end_step": 2684, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: grasp: Right hand grasps the green square block on the black table surface with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2685, "end_step": 2707, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: lift_transport: Right hand lifts the green square ring off the table and moves it toward the set of white bottles on the wooden base."}, {"label": "subtasks", "start_step": 2708, "end_step": 2864, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: mate_release: Right hand aligns the green square ring with the top of the front-right white bottle, fits it downward onto the bottle to complete assembly and releases the ring."}], "episode_index": 3}
+{"source_uid": "b2036f3eb283b844", "num_frames": 2686, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 51, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without significant movement. | Right hand: reach: Right hand moves forward from the right initial position towards the green hexagonal object on the black table."}, {"label": "goal", "start_step": 0, "end_step": 134, "id": "e3440b2e-9002-406c-b830-c9f91e201f03"}, {"label": "valid", "start_step": 0, "end_step": 2652, "id": "RAanJF84p97XiOn_E14Mg"}, {"label": "subtasks", "start_step": 52, "end_step": 134, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without significant movement. | Right hand: grasp: Right hand adjusts its fingers to contact and grasp the green hexagonal object, with subtle grip adjustment movements."}, {"label": "subtasks", "start_step": 135, "end_step": 157, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without significant movement. | Right hand: lift: Right hand lifts the green hexagonal block from the black table surface."}, {"label": "goal", "start_step": 135, "end_step": 279, "id": "7e330906-204b-46ba-87c5-28d89f9791d8"}, {"label": "subtasks", "start_step": 158, "end_step": 179, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without significant movement. | Right hand: transport: Right hand transports the green hexagonal block above the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 180, "end_step": 201, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without significant movement. | Right hand: mate: Right hand mates the green hexagonal block onto the leftmost purple peg of the wooden base."}, {"label": "subtasks", "start_step": 202, "end_step": 269, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without significant movement. | Right hand: hold: Right hand holds the green hexagonal block on the leftmost purple peg without moving."}, {"label": "subtasks", "start_step": 270, "end_step": 307, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without significant movement. | Right hand: place_release: Right hand places and releases the white hexagonal block onto the purple peg of the wooden base."}, {"label": "goal", "start_step": 280, "end_step": 353, "id": "16e2d993-9555-4379-a06a-47470035980e"}, {"label": "subtasks", "start_step": 308, "end_step": 321, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without significant movement. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 322, "end_step": 367, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without significant movement. | Right hand: grasp: Right hand adjusts fingers to grasp the white hexagonal block on the black tabletop."}, {"label": "goal", "start_step": 354, "end_step": 468, "id": "65b9a32c-17fe-4e46-93c6-93f7fcb06157"}, {"label": "subtasks", "start_step": 368, "end_step": 389, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without significant movement. | Right hand: lift_transport: Right hand lifts the white hexagonal nut from the table and transports it to the top of the leftmost purple post on the wooden base."}, {"label": "subtasks", "start_step": 390, "end_step": 449, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without significant movement. | Right hand: mate: Right hand aligns the white hexagonal nut with the leftmost purple post and inserts it onto the post."}, {"label": "subtasks", "start_step": 450, "end_step": 464, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without significant movement. | Right hand: release: Right hand releases the white hexagonal nut fitted on the leftmost purple post."}, {"label": "subtasks", "start_step": 465, "end_step": 487, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without significant movement. | Right hand: mate: Right hand mates the white cylindrical ring onto the peg of the wooden base."}, {"label": "goal", "start_step": 469, "end_step": 543, "id": "0a12d9c1-7dd6-414e-b3ca-4c238f4d9917"}, {"label": "subtasks", "start_step": 488, "end_step": 509, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without significant movement. | Right hand: reach: Right hand moves downward toward the white hexagonal part placed on the black table."}, {"label": "subtasks", "start_step": 510, "end_step": 561, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without significant movement. | Right hand: grasp: Right hand adjusts its fingers to grasp the white hexagonal part on the black table."}, {"label": "goal", "start_step": 544, "end_step": 732, "id": "f79f1b21-1f87-4472-9213-1cdc52fa3d7c"}, {"label": "subtasks", "start_step": 562, "end_step": 584, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without significant movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it towards the wooden rack with purple pegs."}, {"label": "subtasks", "start_step": 585, "end_step": 719, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without significant movement. | Right hand: mate: Right hand aligns the white hexagonal block with the leftmost purple peg on the wooden rack and inserts it onto the peg to complete assembly."}, {"label": "subtasks", "start_step": 720, "end_step": 749, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without significant movement. | Right hand: place: Right hand places the white ring onto the purple rod on the wooden base."}, {"label": "goal", "start_step": 733, "end_step": 824, "id": "c8639cde-379e-41d6-9566-8aaac17669f7"}, {"label": "subtasks", "start_step": 750, "end_step": 809, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without significant movement. | Right hand: reach: Right hand moves downwards towards the white hexagonal ring on the black tabletop."}, {"label": "subtasks", "start_step": 810, "end_step": 824, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without significant movement. | Right hand: grasp: Right hand grasps the white hexagonal ring on the black tabletop."}, {"label": "subtasks", "start_step": 825, "end_step": 847, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without significant movement. | Right hand: lift: Right hand lifts the white hexagonal block from the black table surface."}, {"label": "goal", "start_step": 825, "end_step": 1044, "id": "f2a3ff1b-2b6e-467c-81ee-ac9fde670304"}, {"label": "subtasks", "start_step": 848, "end_step": 869, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without significant movement. | Right hand: transport: Right hand transports the white hexagonal block above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 870, "end_step": 1034, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without significant movement. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod by aligning the hole and pressing down."}, {"label": "subtasks", "start_step": 1035, "end_step": 1064, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without significant movement. | Right hand: place_release: Right hand places the white ring onto the purple rod on the wooden base, then releases the ring."}, {"label": "goal", "start_step": 1045, "end_step": 1122, "id": "2252fa63-4786-4c4b-8f2e-6197060f9eea"}, {"label": "subtasks", "start_step": 1065, "end_step": 1109, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without significant movement. | Right hand: reach: Right hand moves toward the green block on the black table surface."}, {"label": "subtasks", "start_step": 1110, "end_step": 1139, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without significant movement. | Right hand: grasp: Right hand closes fingers to grasp the green block on the black table."}, {"label": "goal", "start_step": 1123, "end_step": 1559, "id": "b6c2a814-0f63-474d-975b-4b58a9e9c1c1"}, {"label": "subtasks", "start_step": 1140, "end_step": 1161, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without significant movement. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table and transports it towards the target peg on the wooden rack."}, {"label": "subtasks", "start_step": 1162, "end_step": 1304, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without significant movement. | Right hand: mate: Right hand aligns the green hexagonal block with the target peg and inserts it partially onto the peg."}, {"label": "subtasks", "start_step": 1305, "end_step": 1371, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without significant movement. | Right hand: lift_transport: Right hand lifts the green hexagonal block slightly from the peg and adjusts its position above the peg."}, {"label": "subtasks", "start_step": 1372, "end_step": 1559, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without significant movement. | Right hand: mate_press: Right hand aligns the green hexagonal block with the peg again and presses it down onto the peg."}, {"label": "subtasks", "start_step": 1560, "end_step": 1589, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without significant movement. | Right hand: release: Right hand releases the white block onto the pillar on the wooden base."}, {"label": "goal", "start_step": 1560, "end_step": 1629, "id": "4c10ac17-905b-4a4f-afba-3bbd78558478"}, {"label": "subtasks", "start_step": 1590, "end_step": 1649, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without significant movement. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the black table surface."}, {"label": "goal", "start_step": 1630, "end_step": 1765, "id": "fd39a328-a6b8-45a0-ac89-6976cac815ec"}, {"label": "subtasks", "start_step": 1650, "end_step": 1664, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without significant movement. | Right hand: grasp_lift: Right hand grasps the white hexagonal block and lifts it off the table surface."}, {"label": "subtasks", "start_step": 1665, "end_step": 1679, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without significant movement. | Right hand: transport: Right hand carries the white block towards the purple pillar on the wooden base."}, {"label": "subtasks", "start_step": 1680, "end_step": 1784, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without significant movement. | Right hand: mate: Right hand aligns the white block with the purple pillar and fits it onto the pillar."}, {"label": "goal", "start_step": 1766, "end_step": 1842, "id": "4ffb0cd3-717f-45af-966f-23109706ec3c"}, {"label": "subtasks", "start_step": 1785, "end_step": 1799, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without significant movement. | Right hand: release: Right hand releases the white hexagonal ring, with fingers separating from the ring."}, {"label": "subtasks", "start_step": 1800, "end_step": 1829, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without significant movement. | Right hand: reach: Right hand moves toward the white hexagonal ring placed on the black tabletop."}, {"label": "subtasks", "start_step": 1830, "end_step": 1859, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without significant movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, with fingers closing around the block to form a stable grip."}, {"label": "goal", "start_step": 1843, "end_step": 2212, "id": "1032de84-23c2-410e-b891-aeda8aacdeb1"}, {"label": "subtasks", "start_step": 1860, "end_step": 1874, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without significant movement. | Right hand: lift: Right hand lifts the grasped white hexagonal block off the black table surface."}, {"label": "subtasks", "start_step": 1875, "end_step": 1889, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without significant movement. | Right hand: transport: Right hand transports the white hexagonal block to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1890, "end_step": 2234, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without significant movement. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it down onto the rod to mate with the base assembly."}, {"label": "goal", "start_step": 2213, "end_step": 2284, "id": "08b4331a-66dd-41a6-afc7-393612d3aaf4"}, {"label": "subtasks", "start_step": 2235, "end_step": 2257, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without significant movement. | Right hand: reach: Right hand reaches toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 2258, "end_step": 2294, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without significant movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface."}, {"label": "goal", "start_step": 2285, "end_step": 2406, "id": "69fa153d-7dec-43b0-b33f-a9e8eca00264"}, {"label": "subtasks", "start_step": 2295, "end_step": 2324, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without significant movement. | Right hand: lift_transport: Right hand lifts the white hollow block from the tabletop and transports it towards the purple post on the wooden rack."}, {"label": "subtasks", "start_step": 2325, "end_step": 2399, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without significant movement. | Right hand: mate_release: Right hand fits the white hollow block onto the purple post then releases the block."}, {"label": "subtasks", "start_step": 2400, "end_step": 2429, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without significant movement. | Right hand: release: Right hand releases the purple cap of the bottle in the rightmost column of the wooden base."}, {"label": "goal", "start_step": 2407, "end_step": 2471, "id": "24137aef-23a0-4f24-9ff6-4f5120b65272"}, {"label": "subtasks", "start_step": 2430, "end_step": 2481, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without significant movement. | Right hand: reach: Right hand moves downward toward the green square block placed on the black table."}, {"label": "goal", "start_step": 2472, "end_step": 2611, "id": "2c56899e-6cae-4115-b03b-aef508414a24"}, {"label": "subtasks", "start_step": 2482, "end_step": 2497, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without significant movement. | Right hand: grasp: Right hand grasps the green square block on the black table with fingers closing."}, {"label": "subtasks", "start_step": 2498, "end_step": 2511, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without significant movement. | Right hand: lift_transport: Right hand lifts the green square block and transports it to above the purple capped bottle on the wooden base."}, {"label": "subtasks", "start_step": 2512, "end_step": 2594, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without significant movement. | Right hand: mate: Right hand mates the green square block onto the purple capped bottle by aligning and inserting it downward."}, {"label": "subtasks", "start_step": 2595, "end_step": 2609, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without significant movement. | Right hand: release: Right hand releases the green square block that is fitted on the purple capped bottle."}, {"label": "subtasks", "start_step": 2610, "end_step": 2624, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without significant movement. | Right hand: retreat: Right hand retreats away from the wooden base toward the right side."}, {"label": "home", "start_step": 2653, "end_step": 2685, "id": "44ouV552TprUI0pPXUupT"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 51, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without significant movement. | Right hand: reach: Right hand moves forward from the right initial position towards the green hexagonal object on the black table."}, {"label": "subtasks", "start_step": 52, "end_step": 134, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without significant movement. | Right hand: grasp: Right hand adjusts its fingers to contact and grasp the green hexagonal object, with subtle grip adjustment movements."}, {"label": "subtasks", "start_step": 135, "end_step": 157, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without significant movement. | Right hand: lift: Right hand lifts the green hexagonal block from the black table surface."}, {"label": "subtasks", "start_step": 158, "end_step": 179, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without significant movement. | Right hand: transport: Right hand transports the green hexagonal block above the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 180, "end_step": 201, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without significant movement. | Right hand: mate: Right hand mates the green hexagonal block onto the leftmost purple peg of the wooden base."}, {"label": "subtasks", "start_step": 202, "end_step": 269, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without significant movement. | Right hand: hold: Right hand holds the green hexagonal block on the leftmost purple peg without moving."}, {"label": "subtasks", "start_step": 270, "end_step": 307, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without significant movement. | Right hand: place_release: Right hand places and releases the white hexagonal block onto the purple peg of the wooden base."}, {"label": "subtasks", "start_step": 308, "end_step": 321, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without significant movement. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 322, "end_step": 367, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without significant movement. | Right hand: grasp: Right hand adjusts fingers to grasp the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 368, "end_step": 389, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without significant movement. | Right hand: lift_transport: Right hand lifts the white hexagonal nut from the table and transports it to the top of the leftmost purple post on the wooden base."}, {"label": "subtasks", "start_step": 390, "end_step": 449, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without significant movement. | Right hand: mate: Right hand aligns the white hexagonal nut with the leftmost purple post and inserts it onto the post."}, {"label": "subtasks", "start_step": 450, "end_step": 464, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without significant movement. | Right hand: release: Right hand releases the white hexagonal nut fitted on the leftmost purple post."}, {"label": "subtasks", "start_step": 465, "end_step": 487, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without significant movement. | Right hand: mate: Right hand mates the white cylindrical ring onto the peg of the wooden base."}, {"label": "subtasks", "start_step": 488, "end_step": 509, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without significant movement. | Right hand: reach: Right hand moves downward toward the white hexagonal part placed on the black table."}, {"label": "subtasks", "start_step": 510, "end_step": 561, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without significant movement. | Right hand: grasp: Right hand adjusts its fingers to grasp the white hexagonal part on the black table."}, {"label": "subtasks", "start_step": 562, "end_step": 584, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without significant movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it towards the wooden rack with purple pegs."}, {"label": "subtasks", "start_step": 585, "end_step": 719, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without significant movement. | Right hand: mate: Right hand aligns the white hexagonal block with the leftmost purple peg on the wooden rack and inserts it onto the peg to complete assembly."}, {"label": "subtasks", "start_step": 720, "end_step": 749, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without significant movement. | Right hand: place: Right hand places the white ring onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 750, "end_step": 809, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without significant movement. | Right hand: reach: Right hand moves downwards towards the white hexagonal ring on the black tabletop."}, {"label": "subtasks", "start_step": 810, "end_step": 824, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without significant movement. | Right hand: grasp: Right hand grasps the white hexagonal ring on the black tabletop."}, {"label": "subtasks", "start_step": 825, "end_step": 847, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without significant movement. | Right hand: lift: Right hand lifts the white hexagonal block from the black table surface."}, {"label": "subtasks", "start_step": 848, "end_step": 869, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without significant movement. | Right hand: transport: Right hand transports the white hexagonal block above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 870, "end_step": 1034, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without significant movement. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod by aligning the hole and pressing down."}, {"label": "subtasks", "start_step": 1035, "end_step": 1064, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without significant movement. | Right hand: place_release: Right hand places the white ring onto the purple rod on the wooden base, then releases the ring."}, {"label": "subtasks", "start_step": 1065, "end_step": 1109, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without significant movement. | Right hand: reach: Right hand moves toward the green block on the black table surface."}, {"label": "subtasks", "start_step": 1110, "end_step": 1139, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without significant movement. | Right hand: grasp: Right hand closes fingers to grasp the green block on the black table."}, {"label": "subtasks", "start_step": 1140, "end_step": 1161, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without significant movement. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table and transports it towards the target peg on the wooden rack."}, {"label": "subtasks", "start_step": 1162, "end_step": 1304, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without significant movement. | Right hand: mate: Right hand aligns the green hexagonal block with the target peg and inserts it partially onto the peg."}, {"label": "subtasks", "start_step": 1305, "end_step": 1371, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without significant movement. | Right hand: lift_transport: Right hand lifts the green hexagonal block slightly from the peg and adjusts its position above the peg."}, {"label": "subtasks", "start_step": 1372, "end_step": 1559, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without significant movement. | Right hand: mate_press: Right hand aligns the green hexagonal block with the peg again and presses it down onto the peg."}, {"label": "subtasks", "start_step": 1560, "end_step": 1589, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without significant movement. | Right hand: release: Right hand releases the white block onto the pillar on the wooden base."}, {"label": "subtasks", "start_step": 1590, "end_step": 1649, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without significant movement. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1650, "end_step": 1664, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without significant movement. | Right hand: grasp_lift: Right hand grasps the white hexagonal block and lifts it off the table surface."}, {"label": "subtasks", "start_step": 1665, "end_step": 1679, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without significant movement. | Right hand: transport: Right hand carries the white block towards the purple pillar on the wooden base."}, {"label": "subtasks", "start_step": 1680, "end_step": 1784, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without significant movement. | Right hand: mate: Right hand aligns the white block with the purple pillar and fits it onto the pillar."}, {"label": "subtasks", "start_step": 1785, "end_step": 1799, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without significant movement. | Right hand: release: Right hand releases the white hexagonal ring, with fingers separating from the ring."}, {"label": "subtasks", "start_step": 1800, "end_step": 1829, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without significant movement. | Right hand: reach: Right hand moves toward the white hexagonal ring placed on the black tabletop."}, {"label": "subtasks", "start_step": 1830, "end_step": 1859, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without significant movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, with fingers closing around the block to form a stable grip."}, {"label": "subtasks", "start_step": 1860, "end_step": 1874, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without significant movement. | Right hand: lift: Right hand lifts the grasped white hexagonal block off the black table surface."}, {"label": "subtasks", "start_step": 1875, "end_step": 1889, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without significant movement. | Right hand: transport: Right hand transports the white hexagonal block to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1890, "end_step": 2234, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without significant movement. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it down onto the rod to mate with the base assembly."}, {"label": "subtasks", "start_step": 2235, "end_step": 2257, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without significant movement. | Right hand: reach: Right hand reaches toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 2258, "end_step": 2294, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without significant movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 2295, "end_step": 2324, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without significant movement. | Right hand: lift_transport: Right hand lifts the white hollow block from the tabletop and transports it towards the purple post on the wooden rack."}, {"label": "subtasks", "start_step": 2325, "end_step": 2399, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without significant movement. | Right hand: mate_release: Right hand fits the white hollow block onto the purple post then releases the block."}, {"label": "subtasks", "start_step": 2400, "end_step": 2429, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without significant movement. | Right hand: release: Right hand releases the purple cap of the bottle in the rightmost column of the wooden base."}, {"label": "subtasks", "start_step": 2430, "end_step": 2481, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without significant movement. | Right hand: reach: Right hand moves downward toward the green square block placed on the black table."}, {"label": "subtasks", "start_step": 2482, "end_step": 2497, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without significant movement. | Right hand: grasp: Right hand grasps the green square block on the black table with fingers closing."}, {"label": "subtasks", "start_step": 2498, "end_step": 2511, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without significant movement. | Right hand: lift_transport: Right hand lifts the green square block and transports it to above the purple capped bottle on the wooden base."}, {"label": "subtasks", "start_step": 2512, "end_step": 2594, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without significant movement. | Right hand: mate: Right hand mates the green square block onto the purple capped bottle by aligning and inserting it downward."}, {"label": "subtasks", "start_step": 2595, "end_step": 2609, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without significant movement. | Right hand: release: Right hand releases the green square block that is fitted on the purple capped bottle."}, {"label": "subtasks", "start_step": 2610, "end_step": 2624, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without significant movement. | Right hand: retreat: Right hand retreats away from the wooden base toward the right side."}], "episode_index": 4}
+{"source_uid": "10a20ef2103e30a0", "num_frames": 2226, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 37, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand stays empty on the left side of the tabletop, remaining stationary without contacting any operational object throughout the segment. | Right hand: idle: Right hand remains empty at the right initial position above the table without obvious movement."}, {"label": "goal", "start_step": 0, "end_step": 133, "id": "d59cc41c-7954-45a9-ae26-a82e21634211"}, {"label": "valid", "start_step": 0, "end_step": 2193, "id": "ZY9sIkEmG2y2nOoY2C1JI"}, {"label": "subtasks", "start_step": 38, "end_step": 89, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand stays empty on the left side of the tabletop, remaining stationary without contacting any operational object throughout the segment. | Right hand: reach: Right hand moves forward and downward toward the green hexagonal nut in front of the wooden peg stand while remaining empty."}, {"label": "subtasks", "start_step": 90, "end_step": 164, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand stays empty on the left side of the tabletop, remaining stationary without contacting any operational object throughout the segment. | Right hand: grasp: Right hand makes contact with the green hexagonal nut on the table, closing fingers and adjusting contact points to form a grasp."}, {"label": "goal", "start_step": 134, "end_step": 262, "id": "1627bad1-4697-41ce-8c41-7d0c0fcc653c"}, {"label": "subtasks", "start_step": 165, "end_step": 179, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand stays empty on the left side of the tabletop, remaining stationary without contacting any operational object throughout the segment. | Right hand: lift: Right hand lifts the grasped green hexagonal block upward until the block is fully separated from the black table surface."}, {"label": "subtasks", "start_step": 180, "end_step": 201, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand stays empty on the left side of the tabletop, remaining stationary without contacting any operational object throughout the segment. | Right hand: transport: Right hand moves the grasped green hexagonal block to position it directly above the target purple peg on the wooden assembly stand."}, {"label": "subtasks", "start_step": 202, "end_step": 239, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand stays empty on the left side of the tabletop, remaining stationary without contacting any operational object throughout the segment. | Right hand: mate: Right hand lowers the green hexagonal block to align its central hole and fit it onto the target purple peg, forming an assembly with existing blocks on the stand."}, {"label": "subtasks", "start_step": 240, "end_step": 254, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand stays empty on the left side of the tabletop, remaining stationary without contacting any operational object throughout the segment. | Right hand: hold: Right hand holds the assembled green hexagonal block on the purple peg without observable movement of the hand or block."}, {"label": "subtasks", "start_step": 255, "end_step": 291, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand stays empty on the left side of the tabletop, remaining stationary without contacting any operational object throughout the segment. | Right hand: place_release: Right hand moves the held white hexagonal block downward to seat it on the purple peg of the wooden stand, releasing the block once it is fully supported by the peg."}, {"label": "goal", "start_step": 263, "end_step": 354, "id": "91df46d4-0858-4748-a1a9-a379c650095f"}, {"label": "subtasks", "start_step": 292, "end_step": 344, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand stays empty on the left side of the tabletop, remaining stationary without contacting any operational object throughout the segment. | Right hand: reach_grasp: Right hand travels downward to the white hexagonal nut resting on the table surface, adjusting finger and wrist positions to close around the nut for a stable grip."}, {"label": "subtasks", "start_step": 345, "end_step": 367, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand stays empty on the left side of the tabletop, remaining stationary without contacting any operational object throughout the segment. | Right hand: grasp: Right hand adjusts its grip on the white hexagonal nut resting on the black table surface."}, {"label": "goal", "start_step": 355, "end_step": 487, "id": "6474c987-97d9-40fa-8cc4-9738ed91e532"}, {"label": "subtasks", "start_step": 368, "end_step": 397, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand stays empty on the left side of the tabletop, remaining stationary without contacting any operational object throughout the segment. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table surface and transports it upward to the position directly above the target purple peg on the wooden assembly block."}, {"label": "subtasks", "start_step": 398, "end_step": 457, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand stays empty on the left side of the tabletop, remaining stationary without contacting any operational object throughout the segment. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the target purple peg and lowers the nut to fit it onto the peg."}, {"label": "subtasks", "start_step": 458, "end_step": 479, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand stays empty on the left side of the tabletop, remaining stationary without contacting any operational object throughout the segment. | Right hand: hold: Right hand holds the fitted white hexagonal nut on the purple peg without visible movement."}, {"label": "subtasks", "start_step": 480, "end_step": 509, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand stays empty on the left side of the tabletop, remaining stationary without contacting any operational object throughout the segment. | Right hand: place_release: Right hand holds the white cylindrical block, moves it downward to place it onto the green block on the wooden assembly base, and opens fingers to release the block."}, {"label": "goal", "start_step": 488, "end_step": 561, "id": "a8764a99-e405-4186-bc31-476b17947af1"}, {"label": "subtasks", "start_step": 510, "end_step": 524, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand stays empty on the left side of the tabletop, remaining stationary without contacting any operational object throughout the segment. | Right hand: reach: Right hand moves downward from the assembly base toward the white hexagonal block on the black table surface, approaching the target block."}, {"label": "subtasks", "start_step": 525, "end_step": 577, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand stays empty on the left side of the tabletop, remaining stationary without contacting any operational object throughout the segment. | Right hand: grasp: Right hand adjusts finger positions to close around the white hexagonal block on the black table surface to form a grasp."}, {"label": "goal", "start_step": 562, "end_step": 698, "id": "34dc7098-3068-4aae-b56a-b3958fb7771d"}, {"label": "subtasks", "start_step": 578, "end_step": 607, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand stays empty on the left side of the tabletop, remaining stationary without contacting any operational object throughout the segment. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward to position it near the empty purple peg on the wooden pegboard."}, {"label": "subtasks", "start_step": 608, "end_step": 644, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand stays empty on the left side of the tabletop, remaining stationary without contacting any operational object throughout the segment. | Right hand: mate: Right hand adjusts the position and orientation of the white hexagonal nut to align its central hollow opening with the top end of the empty purple peg on the wooden pegboard."}, {"label": "subtasks", "start_step": 645, "end_step": 689, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand stays empty on the left side of the tabletop, remaining stationary without contacting any operational object throughout the segment. | Right hand: place: Right hand lowers the aligned white hexagonal nut down the purple peg until the nut rests stably on the green plastic base fixed to the pegboard."}, {"label": "subtasks", "start_step": 690, "end_step": 757, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand stays empty on the left side of the tabletop, remaining stationary without contacting any operational object throughout the segment. | Right hand: reach: Right hand moves downward and slightly forward from above the wooden peg stand toward the white hexagonal block placed on the table in front of the stand, remaining empty with fingers slightly open during movement."}, {"label": "goal", "start_step": 699, "end_step": 768, "id": "d308f189-1197-4e79-b4e8-43cdb60993b9"}, {"label": "subtasks", "start_step": 758, "end_step": 787, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand stays empty on the left side of the tabletop, remaining stationary without contacting any operational object throughout the segment. | Right hand: grasp: Right hand makes contact with the target white hexagonal block, fingers close around the block and perform small adjustments to establish a stable grip."}, {"label": "goal", "start_step": 769, "end_step": 885, "id": "754de665-5cd8-4894-a5f3-b027ac1d06f2"}, {"label": "subtasks", "start_step": 788, "end_step": 817, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand stays empty on the left side of the tabletop, remaining stationary without contacting any operational object throughout the segment. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface and transports it upward to position it directly above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 818, "end_step": 884, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand stays empty on the left side of the tabletop, remaining stationary without contacting any operational object throughout the segment. | Right hand: mate: Right hand aligns the hole of the white hexagonal block with the purple rod on the wooden base, lowers the block to fit it onto the rod to complete assembly."}, {"label": "subtasks", "start_step": 885, "end_step": 929, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand stays empty on the left side of the tabletop, remaining stationary without contacting any operational object throughout the segment. | Right hand: reach: Right hand moves downward from the upper area of the wooden block rack with empty fingers to approach the green hexagonal nut placed on the table near the rack."}, {"label": "goal", "start_step": 886, "end_step": 957, "id": "a27edec0-07bb-4631-a141-8ddd7e8af8d1"}, {"label": "subtasks", "start_step": 930, "end_step": 974, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand stays empty on the left side of the tabletop, remaining stationary without contacting any operational object throughout the segment. | Right hand: grasp: Right hand closes its fingers around the green hexagonal nut on the table, making slight finger adjustments to form a stable grip while the nut stays on the table surface."}, {"label": "goal", "start_step": 958, "end_step": 1093, "id": "771ab5ce-ef99-49b5-8948-789a6a237eb5"}, {"label": "subtasks", "start_step": 975, "end_step": 989, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand stays empty on the left side of the tabletop, remaining stationary without contacting any operational object throughout the segment. | Right hand: lift: Right hand moves the grasped green hexagonal nut upward to lift it completely off the table surface."}, {"label": "subtasks", "start_step": 990, "end_step": 1034, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand stays empty on the left side of the tabletop, remaining stationary without contacting any operational object throughout the segment. | Right hand: transport: Right hand carries the lifted green hexagonal nut upward and horizontally toward the purple vertical post on the wooden block rack, positioning the nut directly above the post."}, {"label": "subtasks", "start_step": 1035, "end_step": 1079, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand stays empty on the left side of the tabletop, remaining stationary without contacting any operational object throughout the segment. | Right hand: mate_place: Right hand aligns the central hole of the green hexagonal nut with the purple vertical post, moves the nut downward to fit onto the post until the nut rests stably on the light purple block underneath."}, {"label": "subtasks", "start_step": 1080, "end_step": 1109, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand stays empty on the left side of the tabletop, remaining stationary without contacting any operational object throughout the segment. | Right hand: release: Right hand opens fingers to release the green block seated on the wooden peg stand, losing contact with the block."}, {"label": "goal", "start_step": 1094, "end_step": 1160, "id": "8d07ad65-16f3-486b-9662-d6cad20c1de3"}, {"label": "subtasks", "start_step": 1110, "end_step": 1131, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand stays empty on the left side of the tabletop, remaining stationary without contacting any operational object throughout the segment. | Right hand: reach: Right hand moves downward toward the white hexagonal block placed on the dark table surface, fingers held slightly open."}, {"label": "subtasks", "start_step": 1132, "end_step": 1154, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand stays empty on the left side of the tabletop, remaining stationary without contacting any operational object throughout the segment. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, adjusting finger position to form a grip."}, {"label": "subtasks", "start_step": 1155, "end_step": 1177, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand stays empty on the left side of the tabletop, remaining stationary without contacting any operational object throughout the segment. | Right hand: hold: Right hand holds the white hexagonal nut against the dark table surface without moving."}, {"label": "goal", "start_step": 1161, "end_step": 1321, "id": "69a33764-5792-40d9-8f00-2e0d1181f2ed"}, {"label": "subtasks", "start_step": 1178, "end_step": 1214, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand stays empty on the left side of the tabletop, remaining stationary without contacting any operational object throughout the segment. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table surface and moves it upward toward the wooden peg assembly."}, {"label": "subtasks", "start_step": 1215, "end_step": 1319, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand stays empty on the left side of the tabletop, remaining stationary without contacting any operational object throughout the segment. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple vertical peg on the wooden base, adjusting position to fit the nut onto the peg."}, {"label": "subtasks", "start_step": 1320, "end_step": 1341, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand stays empty on the left side of the tabletop, remaining stationary without contacting any operational object throughout the segment. | Right hand: place_release: Right hand places the white cylindrical block into the empty top-right slot of the wooden block stand, opening fingers to release the block once it is supported by the stand."}, {"label": "goal", "start_step": 1322, "end_step": 1404, "id": "e4eee4bf-2b3c-4a4c-be6f-fbf29c700c2a"}, {"label": "subtasks", "start_step": 1342, "end_step": 1394, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand stays empty on the left side of the tabletop, remaining stationary without contacting any operational object throughout the segment. | Right hand: reach: Right hand moves diagonally down-right toward the upper white hexagonal nut on the black table surface, holding fingers open during the approach to the target."}, {"label": "subtasks", "start_step": 1395, "end_step": 1417, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand stays empty on the left side of the tabletop, remaining stationary without contacting any operational object throughout the segment. | Right hand: grasp: Right hand closes fingers around the upper white hexagonal nut on the table to make contact and form an initial grip on the object."}, {"label": "goal", "start_step": 1405, "end_step": 1554, "id": "e0e0ed6f-df19-462f-89b2-f8d0e0ab2696"}, {"label": "subtasks", "start_step": 1418, "end_step": 1447, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand stays empty on the left side of the tabletop, remaining stationary without contacting any operational object throughout the segment. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table surface, moving it upward and leftward to the position directly above the purple post on the wooden block stand."}, {"label": "subtasks", "start_step": 1448, "end_step": 1544, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand stays empty on the left side of the tabletop, remaining stationary without contacting any operational object throughout the segment. | Right hand: mate: Right hand aligns the hole of the white hexagonal nut with the purple post, lowering the nut to fit it onto the post."}, {"label": "subtasks", "start_step": 1545, "end_step": 1567, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand stays empty on the left side of the tabletop, remaining stationary without contacting any operational object throughout the segment. | Right hand: place: Right hand holds the white cylindrical block on the purple rod, moves it downward until the block rests stably on the wooden base."}, {"label": "goal", "start_step": 1555, "end_step": 1624, "id": "0f02e515-a673-4833-a3a1-75d595ed2efb"}, {"label": "subtasks", "start_step": 1568, "end_step": 1581, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand stays empty on the left side of the tabletop, remaining stationary without contacting any operational object throughout the segment. | Right hand: release: Right hand opens fingers to release the white cylindrical block, separating from the block on the wooden base."}, {"label": "subtasks", "start_step": 1582, "end_step": 1619, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand stays empty on the left side of the tabletop, remaining stationary without contacting any operational object throughout the segment. | Right hand: reach: Right hand moves empty toward the white hexagonal nut on the dark table surface, approaching the target object."}, {"label": "subtasks", "start_step": 1620, "end_step": 1634, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand stays empty on the left side of the tabletop, remaining stationary without contacting any operational object throughout the segment. | Right hand: grasp: Right hand closes fingers to make contact with the white hexagonal nut on the table, initiating a grasp."}, {"label": "goal", "start_step": 1625, "end_step": 1743, "id": "e76bb455-b32c-4dc3-b772-4e91635bfbce"}, {"label": "subtasks", "start_step": 1635, "end_step": 1649, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand stays empty on the left side of the tabletop, remaining stationary without contacting any operational object throughout the segment. | Right hand: lift: Right hand lifts the grasped white hexagonal nut upward until the nut is completely separated from the table surface."}, {"label": "subtasks", "start_step": 1650, "end_step": 1671, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand stays empty on the left side of the tabletop, remaining stationary without contacting any operational object throughout the segment. | Right hand: transport: Right hand moves the grasped white hexagonal nut toward the purple vertical peg on the wooden block base, positioning the nut directly above the peg."}, {"label": "subtasks", "start_step": 1672, "end_step": 1731, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand stays empty on the left side of the tabletop, remaining stationary without contacting any operational object throughout the segment. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple vertical peg and lowers the nut to fit it securely onto the peg."}, {"label": "subtasks", "start_step": 1732, "end_step": 1761, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand stays empty on the left side of the tabletop, remaining stationary without contacting any operational object throughout the segment. | Right hand: release: Right hand opens its fingers to release the white hexagonal nut fitted on the purple peg, separating the hand from the nut surface."}, {"label": "goal", "start_step": 1744, "end_step": 1890, "id": "1c240531-87a5-4911-86c9-fc9014e8434d"}, {"label": "subtasks", "start_step": 1762, "end_step": 1784, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand stays empty on the left side of the tabletop, remaining stationary without contacting any operational object throughout the segment. | Right hand: reach: Right hand moves empty downward toward the green cube placed on the dark table surface."}, {"label": "subtasks", "start_step": 1785, "end_step": 1889, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand stays empty on the left side of the tabletop, remaining stationary without contacting any operational object throughout the segment. | Right hand: grasp: Right hand adjusts finger positions around the green cube to establish a stable grip."}, {"label": "subtasks", "start_step": 1890, "end_step": 1904, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand stays empty on the left side of the tabletop, remaining stationary without contacting any operational object throughout the segment. | Right hand: hold: Right hand holds the green hexagonal block resting on the dark gray table surface without moving."}, {"label": "goal", "start_step": 1891, "end_step": 2169, "id": "0e4fe6c8-2973-48ab-9822-f52313a280a2"}, {"label": "subtasks", "start_step": 1905, "end_step": 1919, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand stays empty on the left side of the tabletop, remaining stationary without contacting any operational object throughout the segment. | Right hand: lift: Right hand moves upward to lift the green hexagonal block completely off the dark gray table surface."}, {"label": "subtasks", "start_step": 1920, "end_step": 1941, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand stays empty on the left side of the tabletop, remaining stationary without contacting any operational object throughout the segment. | Right hand: transport: Right hand moves the held green hexagonal block upward and rightward to the position above the target post on the wooden block rack."}, {"label": "subtasks", "start_step": 1942, "end_step": 2024, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand stays empty on the left side of the tabletop, remaining stationary without contacting any operational object throughout the segment. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the target post on the wooden rack and lowers the block to attempt fitting onto the post."}, {"label": "subtasks", "start_step": 2025, "end_step": 2054, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand stays empty on the left side of the tabletop, remaining stationary without contacting any operational object throughout the segment. | Right hand: reorient: Right hand slightly lifts the green hexagonal block and rotates its wrist slightly to adjust the block's orientation for better alignment."}, {"label": "subtasks", "start_step": 2055, "end_step": 2129, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand stays empty on the left side of the tabletop, remaining stationary without contacting any operational object throughout the segment. | Right hand: mate: Right hand aligns the adjusted green hexagonal block with the target post and lowers the block to fit onto the post."}, {"label": "subtasks", "start_step": 2130, "end_step": 2151, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand stays empty on the left side of the tabletop, remaining stationary without contacting any operational object throughout the segment. | Right hand: press: Right hand presses downward on the top surface of the green hexagonal block along the post axis to fully seat the block on the post."}, {"label": "subtasks", "start_step": 2152, "end_step": 2167, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand stays empty on the left side of the tabletop, remaining stationary without contacting any operational object throughout the segment. | Right hand: release: Right hand opens its fingers to release the fully seated green hexagonal block, separating the hand from the block."}, {"label": "subtasks", "start_step": 2168, "end_step": 2174, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand stays empty on the left side of the tabletop, remaining stationary without contacting any operational object throughout the segment. | Right hand: retreat: Right hand moves backward away from the wooden block rack after releasing the block."}, {"label": "home", "start_step": 2194, "end_step": 2225, "id": "ppxdiQVBegwRlTw5GSph5"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 37, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand stays empty on the left side of the tabletop, remaining stationary without contacting any operational object throughout the segment. | Right hand: idle: Right hand remains empty at the right initial position above the table without obvious movement."}, {"label": "subtasks", "start_step": 38, "end_step": 89, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand stays empty on the left side of the tabletop, remaining stationary without contacting any operational object throughout the segment. | Right hand: reach: Right hand moves forward and downward toward the green hexagonal nut in front of the wooden peg stand while remaining empty."}, {"label": "subtasks", "start_step": 90, "end_step": 164, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand stays empty on the left side of the tabletop, remaining stationary without contacting any operational object throughout the segment. | Right hand: grasp: Right hand makes contact with the green hexagonal nut on the table, closing fingers and adjusting contact points to form a grasp."}, {"label": "subtasks", "start_step": 165, "end_step": 179, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand stays empty on the left side of the tabletop, remaining stationary without contacting any operational object throughout the segment. | Right hand: lift: Right hand lifts the grasped green hexagonal block upward until the block is fully separated from the black table surface."}, {"label": "subtasks", "start_step": 180, "end_step": 201, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand stays empty on the left side of the tabletop, remaining stationary without contacting any operational object throughout the segment. | Right hand: transport: Right hand moves the grasped green hexagonal block to position it directly above the target purple peg on the wooden assembly stand."}, {"label": "subtasks", "start_step": 202, "end_step": 239, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand stays empty on the left side of the tabletop, remaining stationary without contacting any operational object throughout the segment. | Right hand: mate: Right hand lowers the green hexagonal block to align its central hole and fit it onto the target purple peg, forming an assembly with existing blocks on the stand."}, {"label": "subtasks", "start_step": 240, "end_step": 254, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand stays empty on the left side of the tabletop, remaining stationary without contacting any operational object throughout the segment. | Right hand: hold: Right hand holds the assembled green hexagonal block on the purple peg without observable movement of the hand or block."}, {"label": "subtasks", "start_step": 255, "end_step": 291, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand stays empty on the left side of the tabletop, remaining stationary without contacting any operational object throughout the segment. | Right hand: place_release: Right hand moves the held white hexagonal block downward to seat it on the purple peg of the wooden stand, releasing the block once it is fully supported by the peg."}, {"label": "subtasks", "start_step": 292, "end_step": 344, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand stays empty on the left side of the tabletop, remaining stationary without contacting any operational object throughout the segment. | Right hand: reach_grasp: Right hand travels downward to the white hexagonal nut resting on the table surface, adjusting finger and wrist positions to close around the nut for a stable grip."}, {"label": "subtasks", "start_step": 345, "end_step": 367, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand stays empty on the left side of the tabletop, remaining stationary without contacting any operational object throughout the segment. | Right hand: grasp: Right hand adjusts its grip on the white hexagonal nut resting on the black table surface."}, {"label": "subtasks", "start_step": 368, "end_step": 397, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand stays empty on the left side of the tabletop, remaining stationary without contacting any operational object throughout the segment. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table surface and transports it upward to the position directly above the target purple peg on the wooden assembly block."}, {"label": "subtasks", "start_step": 398, "end_step": 457, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand stays empty on the left side of the tabletop, remaining stationary without contacting any operational object throughout the segment. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the target purple peg and lowers the nut to fit it onto the peg."}, {"label": "subtasks", "start_step": 458, "end_step": 479, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand stays empty on the left side of the tabletop, remaining stationary without contacting any operational object throughout the segment. | Right hand: hold: Right hand holds the fitted white hexagonal nut on the purple peg without visible movement."}, {"label": "subtasks", "start_step": 480, "end_step": 509, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand stays empty on the left side of the tabletop, remaining stationary without contacting any operational object throughout the segment. | Right hand: place_release: Right hand holds the white cylindrical block, moves it downward to place it onto the green block on the wooden assembly base, and opens fingers to release the block."}, {"label": "subtasks", "start_step": 510, "end_step": 524, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand stays empty on the left side of the tabletop, remaining stationary without contacting any operational object throughout the segment. | Right hand: reach: Right hand moves downward from the assembly base toward the white hexagonal block on the black table surface, approaching the target block."}, {"label": "subtasks", "start_step": 525, "end_step": 577, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand stays empty on the left side of the tabletop, remaining stationary without contacting any operational object throughout the segment. | Right hand: grasp: Right hand adjusts finger positions to close around the white hexagonal block on the black table surface to form a grasp."}, {"label": "subtasks", "start_step": 578, "end_step": 607, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand stays empty on the left side of the tabletop, remaining stationary without contacting any operational object throughout the segment. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward to position it near the empty purple peg on the wooden pegboard."}, {"label": "subtasks", "start_step": 608, "end_step": 644, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand stays empty on the left side of the tabletop, remaining stationary without contacting any operational object throughout the segment. | Right hand: mate: Right hand adjusts the position and orientation of the white hexagonal nut to align its central hollow opening with the top end of the empty purple peg on the wooden pegboard."}, {"label": "subtasks", "start_step": 645, "end_step": 689, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand stays empty on the left side of the tabletop, remaining stationary without contacting any operational object throughout the segment. | Right hand: place: Right hand lowers the aligned white hexagonal nut down the purple peg until the nut rests stably on the green plastic base fixed to the pegboard."}, {"label": "subtasks", "start_step": 690, "end_step": 757, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand stays empty on the left side of the tabletop, remaining stationary without contacting any operational object throughout the segment. | Right hand: reach: Right hand moves downward and slightly forward from above the wooden peg stand toward the white hexagonal block placed on the table in front of the stand, remaining empty with fingers slightly open during movement."}, {"label": "subtasks", "start_step": 758, "end_step": 787, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand stays empty on the left side of the tabletop, remaining stationary without contacting any operational object throughout the segment. | Right hand: grasp: Right hand makes contact with the target white hexagonal block, fingers close around the block and perform small adjustments to establish a stable grip."}, {"label": "subtasks", "start_step": 788, "end_step": 817, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand stays empty on the left side of the tabletop, remaining stationary without contacting any operational object throughout the segment. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface and transports it upward to position it directly above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 818, "end_step": 884, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand stays empty on the left side of the tabletop, remaining stationary without contacting any operational object throughout the segment. | Right hand: mate: Right hand aligns the hole of the white hexagonal block with the purple rod on the wooden base, lowers the block to fit it onto the rod to complete assembly."}, {"label": "subtasks", "start_step": 885, "end_step": 929, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand stays empty on the left side of the tabletop, remaining stationary without contacting any operational object throughout the segment. | Right hand: reach: Right hand moves downward from the upper area of the wooden block rack with empty fingers to approach the green hexagonal nut placed on the table near the rack."}, {"label": "subtasks", "start_step": 930, "end_step": 974, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand stays empty on the left side of the tabletop, remaining stationary without contacting any operational object throughout the segment. | Right hand: grasp: Right hand closes its fingers around the green hexagonal nut on the table, making slight finger adjustments to form a stable grip while the nut stays on the table surface."}, {"label": "subtasks", "start_step": 975, "end_step": 989, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand stays empty on the left side of the tabletop, remaining stationary without contacting any operational object throughout the segment. | Right hand: lift: Right hand moves the grasped green hexagonal nut upward to lift it completely off the table surface."}, {"label": "subtasks", "start_step": 990, "end_step": 1034, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand stays empty on the left side of the tabletop, remaining stationary without contacting any operational object throughout the segment. | Right hand: transport: Right hand carries the lifted green hexagonal nut upward and horizontally toward the purple vertical post on the wooden block rack, positioning the nut directly above the post."}, {"label": "subtasks", "start_step": 1035, "end_step": 1079, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand stays empty on the left side of the tabletop, remaining stationary without contacting any operational object throughout the segment. | Right hand: mate_place: Right hand aligns the central hole of the green hexagonal nut with the purple vertical post, moves the nut downward to fit onto the post until the nut rests stably on the light purple block underneath."}, {"label": "subtasks", "start_step": 1080, "end_step": 1109, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand stays empty on the left side of the tabletop, remaining stationary without contacting any operational object throughout the segment. | Right hand: release: Right hand opens fingers to release the green block seated on the wooden peg stand, losing contact with the block."}, {"label": "subtasks", "start_step": 1110, "end_step": 1131, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand stays empty on the left side of the tabletop, remaining stationary without contacting any operational object throughout the segment. | Right hand: reach: Right hand moves downward toward the white hexagonal block placed on the dark table surface, fingers held slightly open."}, {"label": "subtasks", "start_step": 1132, "end_step": 1154, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand stays empty on the left side of the tabletop, remaining stationary without contacting any operational object throughout the segment. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, adjusting finger position to form a grip."}, {"label": "subtasks", "start_step": 1155, "end_step": 1177, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand stays empty on the left side of the tabletop, remaining stationary without contacting any operational object throughout the segment. | Right hand: hold: Right hand holds the white hexagonal nut against the dark table surface without moving."}, {"label": "subtasks", "start_step": 1178, "end_step": 1214, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand stays empty on the left side of the tabletop, remaining stationary without contacting any operational object throughout the segment. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table surface and moves it upward toward the wooden peg assembly."}, {"label": "subtasks", "start_step": 1215, "end_step": 1319, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand stays empty on the left side of the tabletop, remaining stationary without contacting any operational object throughout the segment. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple vertical peg on the wooden base, adjusting position to fit the nut onto the peg."}, {"label": "subtasks", "start_step": 1320, "end_step": 1341, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand stays empty on the left side of the tabletop, remaining stationary without contacting any operational object throughout the segment. | Right hand: place_release: Right hand places the white cylindrical block into the empty top-right slot of the wooden block stand, opening fingers to release the block once it is supported by the stand."}, {"label": "subtasks", "start_step": 1342, "end_step": 1394, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand stays empty on the left side of the tabletop, remaining stationary without contacting any operational object throughout the segment. | Right hand: reach: Right hand moves diagonally down-right toward the upper white hexagonal nut on the black table surface, holding fingers open during the approach to the target."}, {"label": "subtasks", "start_step": 1395, "end_step": 1417, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand stays empty on the left side of the tabletop, remaining stationary without contacting any operational object throughout the segment. | Right hand: grasp: Right hand closes fingers around the upper white hexagonal nut on the table to make contact and form an initial grip on the object."}, {"label": "subtasks", "start_step": 1418, "end_step": 1447, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand stays empty on the left side of the tabletop, remaining stationary without contacting any operational object throughout the segment. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table surface, moving it upward and leftward to the position directly above the purple post on the wooden block stand."}, {"label": "subtasks", "start_step": 1448, "end_step": 1544, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand stays empty on the left side of the tabletop, remaining stationary without contacting any operational object throughout the segment. | Right hand: mate: Right hand aligns the hole of the white hexagonal nut with the purple post, lowering the nut to fit it onto the post."}, {"label": "subtasks", "start_step": 1545, "end_step": 1567, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand stays empty on the left side of the tabletop, remaining stationary without contacting any operational object throughout the segment. | Right hand: place: Right hand holds the white cylindrical block on the purple rod, moves it downward until the block rests stably on the wooden base."}, {"label": "subtasks", "start_step": 1568, "end_step": 1581, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand stays empty on the left side of the tabletop, remaining stationary without contacting any operational object throughout the segment. | Right hand: release: Right hand opens fingers to release the white cylindrical block, separating from the block on the wooden base."}, {"label": "subtasks", "start_step": 1582, "end_step": 1619, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand stays empty on the left side of the tabletop, remaining stationary without contacting any operational object throughout the segment. | Right hand: reach: Right hand moves empty toward the white hexagonal nut on the dark table surface, approaching the target object."}, {"label": "subtasks", "start_step": 1620, "end_step": 1634, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand stays empty on the left side of the tabletop, remaining stationary without contacting any operational object throughout the segment. | Right hand: grasp: Right hand closes fingers to make contact with the white hexagonal nut on the table, initiating a grasp."}, {"label": "subtasks", "start_step": 1635, "end_step": 1649, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand stays empty on the left side of the tabletop, remaining stationary without contacting any operational object throughout the segment. | Right hand: lift: Right hand lifts the grasped white hexagonal nut upward until the nut is completely separated from the table surface."}, {"label": "subtasks", "start_step": 1650, "end_step": 1671, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand stays empty on the left side of the tabletop, remaining stationary without contacting any operational object throughout the segment. | Right hand: transport: Right hand moves the grasped white hexagonal nut toward the purple vertical peg on the wooden block base, positioning the nut directly above the peg."}, {"label": "subtasks", "start_step": 1672, "end_step": 1731, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand stays empty on the left side of the tabletop, remaining stationary without contacting any operational object throughout the segment. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple vertical peg and lowers the nut to fit it securely onto the peg."}, {"label": "subtasks", "start_step": 1732, "end_step": 1761, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand stays empty on the left side of the tabletop, remaining stationary without contacting any operational object throughout the segment. | Right hand: release: Right hand opens its fingers to release the white hexagonal nut fitted on the purple peg, separating the hand from the nut surface."}, {"label": "subtasks", "start_step": 1762, "end_step": 1784, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand stays empty on the left side of the tabletop, remaining stationary without contacting any operational object throughout the segment. | Right hand: reach: Right hand moves empty downward toward the green cube placed on the dark table surface."}, {"label": "subtasks", "start_step": 1785, "end_step": 1889, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand stays empty on the left side of the tabletop, remaining stationary without contacting any operational object throughout the segment. | Right hand: grasp: Right hand adjusts finger positions around the green cube to establish a stable grip."}, {"label": "subtasks", "start_step": 1890, "end_step": 1904, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand stays empty on the left side of the tabletop, remaining stationary without contacting any operational object throughout the segment. | Right hand: hold: Right hand holds the green hexagonal block resting on the dark gray table surface without moving."}, {"label": "subtasks", "start_step": 1905, "end_step": 1919, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand stays empty on the left side of the tabletop, remaining stationary without contacting any operational object throughout the segment. | Right hand: lift: Right hand moves upward to lift the green hexagonal block completely off the dark gray table surface."}, {"label": "subtasks", "start_step": 1920, "end_step": 1941, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand stays empty on the left side of the tabletop, remaining stationary without contacting any operational object throughout the segment. | Right hand: transport: Right hand moves the held green hexagonal block upward and rightward to the position above the target post on the wooden block rack."}, {"label": "subtasks", "start_step": 1942, "end_step": 2024, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand stays empty on the left side of the tabletop, remaining stationary without contacting any operational object throughout the segment. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the target post on the wooden rack and lowers the block to attempt fitting onto the post."}, {"label": "subtasks", "start_step": 2025, "end_step": 2054, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand stays empty on the left side of the tabletop, remaining stationary without contacting any operational object throughout the segment. | Right hand: reorient: Right hand slightly lifts the green hexagonal block and rotates its wrist slightly to adjust the block's orientation for better alignment."}, {"label": "subtasks", "start_step": 2055, "end_step": 2129, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand stays empty on the left side of the tabletop, remaining stationary without contacting any operational object throughout the segment. | Right hand: mate: Right hand aligns the adjusted green hexagonal block with the target post and lowers the block to fit onto the post."}, {"label": "subtasks", "start_step": 2130, "end_step": 2151, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand stays empty on the left side of the tabletop, remaining stationary without contacting any operational object throughout the segment. | Right hand: press: Right hand presses downward on the top surface of the green hexagonal block along the post axis to fully seat the block on the post."}, {"label": "subtasks", "start_step": 2152, "end_step": 2167, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand stays empty on the left side of the tabletop, remaining stationary without contacting any operational object throughout the segment. | Right hand: release: Right hand opens its fingers to release the fully seated green hexagonal block, separating the hand from the block."}, {"label": "subtasks", "start_step": 2168, "end_step": 2174, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand stays empty on the left side of the tabletop, remaining stationary without contacting any operational object throughout the segment. | Right hand: retreat: Right hand moves backward away from the wooden block rack after releasing the block."}], "episode_index": 5}
+{"source_uid": "444ecef32ebfd14e", "num_frames": 2267, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 37, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_hand_pose: Left hand moves slightly upward and rotates its wrist, adjusting finger posture while remaining empty. | Right hand: reach: Right hand moves leftward and downward toward the green hexagonal block on the black table, with fingers open."}, {"label": "goal", "start_step": 0, "end_step": 133, "id": "e5b50b51-fd00-45a3-af51-1cc8eb65a678"}, {"label": "valid", "start_step": 0, "end_step": 2233, "id": "x3aioetuxe4oREZTIX24F"}, {"label": "subtasks", "start_step": 38, "end_step": 81, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves leftward and downward toward the green hexagonal block on the black table, with fingers open."}, {"label": "subtasks", "start_step": 82, "end_step": 119, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 120, "end_step": 141, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift: Right hand lifts the green hexagonal block up from the black worktable surface."}, {"label": "goal", "start_step": 134, "end_step": 281, "id": "25bef831-d652-4b62-8e70-ea22c4bd93c7"}, {"label": "subtasks", "start_step": 142, "end_step": 164, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: transport: Right hand transports the green hexagonal block to the position above the leftmost peg of the rack."}, {"label": "subtasks", "start_step": 165, "end_step": 224, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the leftmost peg of the rack by lowering it to fit the hole."}, {"label": "subtasks", "start_step": 225, "end_step": 269, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: hold: Right hand holds the green hexagonal block on the leftmost peg of the rack without moving."}, {"label": "subtasks", "start_step": 270, "end_step": 299, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: release: Right hand releases the white hexagonal block on the leftmost purple peg of the wooden base, with fingers gradually opening and separating from the block."}, {"label": "goal", "start_step": 282, "end_step": 342, "id": "f4915f9e-ae29-46e6-93ec-8cf9be9478a9"}, {"label": "subtasks", "start_step": 300, "end_step": 321, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves downward and forward to reach the white hexagonal block on the tabletop to the left of the green block."}, {"label": "subtasks", "start_step": 322, "end_step": 367, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the tabletop, with fingers closing and adjusting to form a stable grip."}, {"label": "goal", "start_step": 343, "end_step": 470, "id": "b6bbc6a1-40a4-41a0-93dc-f812721e0a06"}, {"label": "subtasks", "start_step": 368, "end_step": 389, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the tabletop and transports it upward and rightward to the top of the leftmost purple peg of the wooden base."}, {"label": "subtasks", "start_step": 390, "end_step": 441, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the leftmost purple peg and inserts it downward along the peg until it reaches the green block below."}, {"label": "subtasks", "start_step": 442, "end_step": 487, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: release: Right hand releases the white hexagonal block on the leftmost purple peg, with fingers opening and separating from the block."}, {"label": "goal", "start_step": 471, "end_step": 544, "id": "5871d4ce-26a8-4e21-952f-6b1356e42cde"}, {"label": "subtasks", "start_step": 488, "end_step": 517, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table surface, with empty hand."}, {"label": "subtasks", "start_step": 518, "end_step": 561, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table surface, with fingers closing and adjusting to form stable grip."}, {"label": "goal", "start_step": 545, "end_step": 685, "id": "90e84b0c-0393-42bb-9604-eb509cbe048b"}, {"label": "subtasks", "start_step": 562, "end_step": 577, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table and transports it upward and leftward toward the wooden peg rack with purple pegs."}, {"label": "subtasks", "start_step": 578, "end_step": 674, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand mates the white hexagonal nut onto the top-left purple peg of the wooden rack, moving downward continuously to insert the peg through the nut's central hole."}, {"label": "subtasks", "start_step": 675, "end_step": 704, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate_release: Right hand mates the white hexagonal block onto the left purple peg and releases the block."}, {"label": "goal", "start_step": 686, "end_step": 760, "id": "8744c70d-f2bf-4211-a65a-82b854b2f1fb"}, {"label": "subtasks", "start_step": 705, "end_step": 727, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 728, "end_step": 779, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table with fingers closing and adjusting."}, {"label": "goal", "start_step": 761, "end_step": 885, "id": "4997455e-1607-44bf-b44e-be8a1f9bf6f0"}, {"label": "subtasks", "start_step": 780, "end_step": 794, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift_transport: Right hand lifts the white hollow hexagonal block from the table and moves it to above the middle purple peg of the wooden base."}, {"label": "subtasks", "start_step": 795, "end_step": 884, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate_release: Right hand fits the white hollow hexagonal block onto the middle purple peg and releases the block after it reaches the base."}, {"label": "subtasks", "start_step": 885, "end_step": 907, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: release: Right hand releases the white cylindrical block on the purple peg of the wooden base, with fingers opening to separate from the block."}, {"label": "goal", "start_step": 886, "end_step": 950, "id": "c9f36ef0-3f86-4d6f-88cb-08fae638f84b"}, {"label": "subtasks", "start_step": 908, "end_step": 929, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand reaches downward toward the green hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 930, "end_step": 959, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers closing around the block to form a stable grip."}, {"label": "goal", "start_step": 951, "end_step": 1065, "id": "45950de5-e255-4f9b-a9f8-abb30fdf0e64"}, {"label": "subtasks", "start_step": 960, "end_step": 981, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it upward toward the wooden base with pegs."}, {"label": "subtasks", "start_step": 982, "end_step": 1064, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the front purple peg of the wooden base by aligning the hole and lowering the block onto the peg."}, {"label": "subtasks", "start_step": 1065, "end_step": 1087, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: release: Right hand releases the object on the wooden base, with fingers opening to separate from the object."}, {"label": "goal", "start_step": 1066, "end_step": 1147, "id": "cd93623e-4d0b-4374-a4b4-f1e4e06abb49"}, {"label": "subtasks", "start_step": 1088, "end_step": 1109, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal part on the black table, with fingers slightly open."}, {"label": "subtasks", "start_step": 1110, "end_step": 1169, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand grasps the white hexagonal part on the black table, with fingers closing and adjusting to form a stable grip."}, {"label": "goal", "start_step": 1148, "end_step": 1361, "id": "cb306e6a-a4aa-425e-877e-64e8e2d69bdd"}, {"label": "subtasks", "start_step": 1170, "end_step": 1184, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the black table and transports it to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1185, "end_step": 1349, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod on the wooden base and moves it downward to assemble the block onto the rod."}, {"label": "subtasks", "start_step": 1350, "end_step": 1379, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: release: Right hand releases the purple rod on the wooden base, with fingers gradually opening to separate from the rod."}, {"label": "goal", "start_step": 1362, "end_step": 1434, "id": "c17ed897-2ba8-46ca-a8c5-a8d46fcae25b"}, {"label": "subtasks", "start_step": 1380, "end_step": 1424, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves downward and rightward toward the upper white hexagonal block on the table, keeping fingers open."}, {"label": "subtasks", "start_step": 1425, "end_step": 1454, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand grasps the upper white hexagonal block on the table, with fingers closing around the block."}, {"label": "goal", "start_step": 1435, "end_step": 1582, "id": "6910b443-a7fb-4016-836f-a2b882df5864"}, {"label": "subtasks", "start_step": 1455, "end_step": 1484, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1485, "end_step": 1574, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate_release: Right hand aligns the white hexagonal block with the purple rod, fits it onto the rod, and releases the block."}, {"label": "subtasks", "start_step": 1575, "end_step": 1604, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: place_release: Right hand places the white cylindrical block onto the purple rod on the wooden base and releases it."}, {"label": "goal", "start_step": 1583, "end_step": 1645, "id": "546a20e8-06b9-49a2-bfc5-0342eb1f443b"}, {"label": "subtasks", "start_step": 1605, "end_step": 1634, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand reaches toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1635, "end_step": 1664, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing."}, {"label": "goal", "start_step": 1646, "end_step": 1775, "id": "cc15bd1d-8fac-4cd8-91df-7286e8e1a614"}, {"label": "subtasks", "start_step": 1665, "end_step": 1687, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1688, "end_step": 1769, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod by aligning and lowering it onto the rod."}, {"label": "subtasks", "start_step": 1770, "end_step": 1784, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: release: Right hand releases the white hexagonal block on the purple rod with fingers opening."}, {"label": "goal", "start_step": 1776, "end_step": 1834, "id": "06e62948-3cbb-42cb-afb4-31728a45cd0e"}, {"label": "subtasks", "start_step": 1785, "end_step": 1829, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves downward from the right side of the block tower toward the green cubic block on the black table."}, {"label": "subtasks", "start_step": 1830, "end_step": 1851, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green cubic block on the black table."}, {"label": "goal", "start_step": 1835, "end_step": 2206, "id": "8b8e5153-d5f5-43ba-a73b-0130742a6081"}, {"label": "subtasks", "start_step": 1852, "end_step": 1881, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift_transport: Right hand lifts the green cubic block off the table and transports it upward and leftward to the top of the rightmost column of the block tower."}, {"label": "subtasks", "start_step": 1882, "end_step": 1971, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand moves the green cubic block downward to fit it onto the rightmost white column of the block tower."}, {"label": "subtasks", "start_step": 1972, "end_step": 2031, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reorient: Right hand lifts the green cubic block slightly upward and adjusts its orientation above the rightmost white column."}, {"label": "subtasks", "start_step": 2032, "end_step": 2197, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand moves the green cubic block downward again to fit it fully onto the rightmost white column of the block tower."}, {"label": "subtasks", "start_step": 2198, "end_step": 2219, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: release_retreat: Right hand releases the green cubic block and moves upward away from the block tower."}, {"label": "home", "start_step": 2234, "end_step": 2266, "id": "5LjoH6pZd2M2mMZQ1laFA"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 37, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_hand_pose: Left hand moves slightly upward and rotates its wrist, adjusting finger posture while remaining empty. | Right hand: reach: Right hand moves leftward and downward toward the green hexagonal block on the black table, with fingers open."}, {"label": "subtasks", "start_step": 38, "end_step": 81, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves leftward and downward toward the green hexagonal block on the black table, with fingers open."}, {"label": "subtasks", "start_step": 82, "end_step": 119, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 120, "end_step": 141, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift: Right hand lifts the green hexagonal block up from the black worktable surface."}, {"label": "subtasks", "start_step": 142, "end_step": 164, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: transport: Right hand transports the green hexagonal block to the position above the leftmost peg of the rack."}, {"label": "subtasks", "start_step": 165, "end_step": 224, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the leftmost peg of the rack by lowering it to fit the hole."}, {"label": "subtasks", "start_step": 225, "end_step": 269, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: hold: Right hand holds the green hexagonal block on the leftmost peg of the rack without moving."}, {"label": "subtasks", "start_step": 270, "end_step": 299, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: release: Right hand releases the white hexagonal block on the leftmost purple peg of the wooden base, with fingers gradually opening and separating from the block."}, {"label": "subtasks", "start_step": 300, "end_step": 321, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves downward and forward to reach the white hexagonal block on the tabletop to the left of the green block."}, {"label": "subtasks", "start_step": 322, "end_step": 367, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the tabletop, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 368, "end_step": 389, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the tabletop and transports it upward and rightward to the top of the leftmost purple peg of the wooden base."}, {"label": "subtasks", "start_step": 390, "end_step": 441, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the leftmost purple peg and inserts it downward along the peg until it reaches the green block below."}, {"label": "subtasks", "start_step": 442, "end_step": 487, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: release: Right hand releases the white hexagonal block on the leftmost purple peg, with fingers opening and separating from the block."}, {"label": "subtasks", "start_step": 488, "end_step": 517, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table surface, with empty hand."}, {"label": "subtasks", "start_step": 518, "end_step": 561, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table surface, with fingers closing and adjusting to form stable grip."}, {"label": "subtasks", "start_step": 562, "end_step": 577, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table and transports it upward and leftward toward the wooden peg rack with purple pegs."}, {"label": "subtasks", "start_step": 578, "end_step": 674, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand mates the white hexagonal nut onto the top-left purple peg of the wooden rack, moving downward continuously to insert the peg through the nut's central hole."}, {"label": "subtasks", "start_step": 675, "end_step": 704, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate_release: Right hand mates the white hexagonal block onto the left purple peg and releases the block."}, {"label": "subtasks", "start_step": 705, "end_step": 727, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 728, "end_step": 779, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table with fingers closing and adjusting."}, {"label": "subtasks", "start_step": 780, "end_step": 794, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift_transport: Right hand lifts the white hollow hexagonal block from the table and moves it to above the middle purple peg of the wooden base."}, {"label": "subtasks", "start_step": 795, "end_step": 884, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate_release: Right hand fits the white hollow hexagonal block onto the middle purple peg and releases the block after it reaches the base."}, {"label": "subtasks", "start_step": 885, "end_step": 907, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: release: Right hand releases the white cylindrical block on the purple peg of the wooden base, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 908, "end_step": 929, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand reaches downward toward the green hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 930, "end_step": 959, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers closing around the block to form a stable grip."}, {"label": "subtasks", "start_step": 960, "end_step": 981, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it upward toward the wooden base with pegs."}, {"label": "subtasks", "start_step": 982, "end_step": 1064, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the front purple peg of the wooden base by aligning the hole and lowering the block onto the peg."}, {"label": "subtasks", "start_step": 1065, "end_step": 1087, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: release: Right hand releases the object on the wooden base, with fingers opening to separate from the object."}, {"label": "subtasks", "start_step": 1088, "end_step": 1109, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal part on the black table, with fingers slightly open."}, {"label": "subtasks", "start_step": 1110, "end_step": 1169, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand grasps the white hexagonal part on the black table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1170, "end_step": 1184, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the black table and transports it to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1185, "end_step": 1349, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod on the wooden base and moves it downward to assemble the block onto the rod."}, {"label": "subtasks", "start_step": 1350, "end_step": 1379, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: release: Right hand releases the purple rod on the wooden base, with fingers gradually opening to separate from the rod."}, {"label": "subtasks", "start_step": 1380, "end_step": 1424, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves downward and rightward toward the upper white hexagonal block on the table, keeping fingers open."}, {"label": "subtasks", "start_step": 1425, "end_step": 1454, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand grasps the upper white hexagonal block on the table, with fingers closing around the block."}, {"label": "subtasks", "start_step": 1455, "end_step": 1484, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1485, "end_step": 1574, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate_release: Right hand aligns the white hexagonal block with the purple rod, fits it onto the rod, and releases the block."}, {"label": "subtasks", "start_step": 1575, "end_step": 1604, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: place_release: Right hand places the white cylindrical block onto the purple rod on the wooden base and releases it."}, {"label": "subtasks", "start_step": 1605, "end_step": 1634, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand reaches toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1635, "end_step": 1664, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing."}, {"label": "subtasks", "start_step": 1665, "end_step": 1687, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1688, "end_step": 1769, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod by aligning and lowering it onto the rod."}, {"label": "subtasks", "start_step": 1770, "end_step": 1784, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: release: Right hand releases the white hexagonal block on the purple rod with fingers opening."}, {"label": "subtasks", "start_step": 1785, "end_step": 1829, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves downward from the right side of the block tower toward the green cubic block on the black table."}, {"label": "subtasks", "start_step": 1830, "end_step": 1851, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green cubic block on the black table."}, {"label": "subtasks", "start_step": 1852, "end_step": 1881, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift_transport: Right hand lifts the green cubic block off the table and transports it upward and leftward to the top of the rightmost column of the block tower."}, {"label": "subtasks", "start_step": 1882, "end_step": 1971, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand moves the green cubic block downward to fit it onto the rightmost white column of the block tower."}, {"label": "subtasks", "start_step": 1972, "end_step": 2031, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reorient: Right hand lifts the green cubic block slightly upward and adjusts its orientation above the rightmost white column."}, {"label": "subtasks", "start_step": 2032, "end_step": 2197, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand moves the green cubic block downward again to fit it fully onto the rightmost white column of the block tower."}, {"label": "subtasks", "start_step": 2198, "end_step": 2219, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: release_retreat: Right hand releases the green cubic block and moves upward away from the block tower."}], "episode_index": 6}
+{"source_uid": "98528affec3c1536", "num_frames": 2187, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 51, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves towards the green block on the black table with fingers extended."}, {"label": "goal", "start_step": 0, "end_step": 156, "id": "bf7bf9e2-6a8d-4f32-8c4f-7c043c776945"}, {"label": "valid", "start_step": 0, "end_step": 2155, "id": "Q2YKsfdq2hJ9Xi3LrmN0S"}, {"label": "subtasks", "start_step": 52, "end_step": 97, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand closes fingers around the green block to establish stable grip."}, {"label": "subtasks", "start_step": 98, "end_step": 149, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: push: Right hand pushes the green block on the table slightly towards the left direction."}, {"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 table without obvious movement. | Right hand: grasp: Right hand adjusts its grip on the green cylindrical object placed on the black table."}, {"label": "goal", "start_step": 157, "end_step": 255, "id": "7e4bf2a7-560a-4b33-9b7c-aa2ff2162aec"}, {"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 table without obvious movement. | Right hand: lift_transport: Right hand lifts the green cylindrical object from the table and moves it toward the purple peg on the wooden base."}, {"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 table without obvious movement. | Right hand: place: Right hand places the green cylindrical object onto the top of the target purple peg."}, {"label": "subtasks", "start_step": 195, "end_step": 284, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: press: Right hand presses the green cylindrical object down along the purple peg to secure it."}, {"label": "goal", "start_step": 256, "end_step": 335, "id": "3241e954-f90a-46d4-bc0c-b97dc0601807"}, {"label": "subtasks", "start_step": 285, "end_step": 307, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves down towards the white hexagonal object on the black table surface."}, {"label": "subtasks", "start_step": 308, "end_step": 351, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal object on the black table surface."}, {"label": "goal", "start_step": 336, "end_step": 482, "id": "fad18594-de7c-4108-b218-dac6bae4db0f"}, {"label": "subtasks", "start_step": 352, "end_step": 374, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the tabletop and transports it to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 375, "end_step": 397, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it onto the top of the rod."}, {"label": "subtasks", "start_step": 398, "end_step": 434, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: press: Right hand presses the white hexagonal block down along the purple rod to the lower position."}, {"label": "subtasks", "start_step": 435, "end_step": 479, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: hold: Right hand holds the white hexagonal block on the purple rod without moving."}, {"label": "subtasks", "start_step": 480, "end_step": 501, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand mates the white cylindrical block onto the purple peg of the wooden base."}, {"label": "goal", "start_step": 483, "end_step": 555, "id": "6e5fd9f8-a21e-4c81-8c2b-14dcd2a81ccc"}, {"label": "subtasks", "start_step": 502, "end_step": 524, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: retreat: Right hand moves downward away from the wooden base towards the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 525, "end_step": 584, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand adjusts its fingers to grasp the white hexagonal block on the black table surface."}, {"label": "goal", "start_step": 556, "end_step": 814, "id": "aa2ca9d5-7d43-4fa4-bed8-3eaeacfc7233"}, {"label": "subtasks", "start_step": 585, "end_step": 607, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it towards the test tube rack."}, {"label": "subtasks", "start_step": 608, "end_step": 727, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand mates the white hexagonal block onto the purple test tube on the test tube rack with adjustment movements."}, {"label": "subtasks", "start_step": 728, "end_step": 757, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: retreat: Right hand retreats from the assembled white hexagonal block towards the adjacent test tube."}, {"label": "subtasks", "start_step": 758, "end_step": 794, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand reaches towards the white hexagonal block on the adjacent test tube of the rack."}, {"label": "subtasks", "start_step": 795, "end_step": 809, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the adjacent test tube of the rack."}, {"label": "subtasks", "start_step": 810, "end_step": 869, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the black table."}, {"label": "goal", "start_step": 815, "end_step": 874, "id": "1c101df9-26fc-420b-9399-8c110ec6b88d"}, {"label": "subtasks", "start_step": 870, "end_step": 884, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the black table."}, {"label": "goal", "start_step": 875, "end_step": 976, "id": "f7645671-5e3c-4a99-9844-b44025668844"}, {"label": "subtasks", "start_step": 885, "end_step": 921, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it towards the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 922, "end_step": 974, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: place: Right hand places the white hexagonal block onto the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 975, "end_step": 997, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: release: Right hand releases the green block on the purple rod of the wooden base and moves downward."}, {"label": "goal", "start_step": 977, "end_step": 1040, "id": "3291030b-fc7c-40c8-9262-42f2eaf7a474"}, {"label": "subtasks", "start_step": 998, "end_step": 1034, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves downward toward the green block placed on the black tabletop."}, {"label": "subtasks", "start_step": 1035, "end_step": 1057, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand closes its fingers to grasp the green block on the black tabletop."}, {"label": "goal", "start_step": 1041, "end_step": 1318, "id": "31a9caa3-799c-427a-9716-2058a5c63750"}, {"label": "subtasks", "start_step": 1058, "end_step": 1079, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the green block from the tabletop and transports it to the top of the target rod on the wooden base."}, {"label": "subtasks", "start_step": 1080, "end_step": 1191, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand aligns the green block with the target rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 1192, "end_step": 1259, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: press: Right hand presses the green block down along the rod to secure its position."}, {"label": "subtasks", "start_step": 1260, "end_step": 1304, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: hold: Right hand holds the green block on the rod without any movement."}, {"label": "subtasks", "start_step": 1305, "end_step": 1341, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: place_release: Right hand places the white cylindrical block onto the peg on top of the green block on the wooden base and releases the block."}, {"label": "goal", "start_step": 1319, "end_step": 1390, "id": "5ffd66c9-8def-493c-828e-d9d3e07fb078"}, {"label": "subtasks", "start_step": 1342, "end_step": 1379, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves downward toward the green block on the black table surface."}, {"label": "subtasks", "start_step": 1380, "end_step": 1409, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table."}, {"label": "goal", "start_step": 1391, "end_step": 1526, "id": "2e712803-f183-40b5-915d-738316063b20"}, {"label": "subtasks", "start_step": 1410, "end_step": 1454, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block and transports it toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1455, "end_step": 1514, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod, adjusting to fit into position."}, {"label": "subtasks", "start_step": 1515, "end_step": 1544, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: place_release: Right hand places the white hexagonal block onto the purple peg of the wooden base and releases the grip on the block."}, {"label": "goal", "start_step": 1527, "end_step": 1592, "id": "cf2b0ba6-a6a8-48ae-83f5-67b58452779f"}, {"label": "subtasks", "start_step": 1545, "end_step": 1589, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves downwards towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1590, "end_step": 1611, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, adjusting fingers to form a stable grip."}, {"label": "goal", "start_step": 1593, "end_step": 1694, "id": "f9d0eb7f-7e1e-46b3-a626-76e83eff8df8"}, {"label": "subtasks", "start_step": 1612, "end_step": 1641, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1642, "end_step": 1694, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod by aligning and lowering it onto the rod."}, {"label": "subtasks", "start_step": 1695, "end_step": 1717, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: release: Right hand releases the white hexagonal block placed on the purple rod of the wooden base."}, {"label": "goal", "start_step": 1695, "end_step": 1764, "id": "8cba6aa3-3678-4f78-a3d9-a2a1da45f245"}, {"label": "subtasks", "start_step": 1718, "end_step": 1754, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1755, "end_step": 1777, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface with fingers closing around the block."}, {"label": "goal", "start_step": 1765, "end_step": 1888, "id": "8b483cb2-ff2e-4e79-a941-7e21d5c21a24"}, {"label": "subtasks", "start_step": 1778, "end_step": 1799, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and transports it upward toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1800, "end_step": 1874, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod by aligning the block's hole with the rod and inserting it down onto the rod."}, {"label": "subtasks", "start_step": 1875, "end_step": 1904, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: place_release: Right hand places the white cylindrical block onto the wooden base and releases the block."}, {"label": "goal", "start_step": 1889, "end_step": 1950, "id": "f5f32d7a-985c-4f55-b1de-60a28f7757ca"}, {"label": "subtasks", "start_step": 1905, "end_step": 1941, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves towards the green square block on the lower right of the table."}, {"label": "subtasks", "start_step": 1942, "end_step": 1949, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand closes its fingers to grasp the green square block on the table."}, {"label": "subtasks", "start_step": 1950, "end_step": 1971, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: hold: Right hand holds the green square block on the right side of the table without moving."}, {"label": "goal", "start_step": 1951, "end_step": 2116, "id": "67a661f2-b6b0-43eb-8bd2-f402f68860c1"}, {"label": "subtasks", "start_step": 1972, "end_step": 2001, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: transport: Right hand transports the green square block towards the rightmost white post on the wooden base."}, {"label": "subtasks", "start_step": 2002, "end_step": 2114, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand mates the green square block onto the rightmost white post on the wooden base."}, {"label": "subtasks", "start_step": 2115, "end_step": 2129, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: release_retreat: Right hand releases the green square block and retreats from the wooden base."}, {"label": "home", "start_step": 2156, "end_step": 2186, "id": "llrVYmFuUAMz9CQ0-drBe"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 51, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves towards the green block on the black table with fingers extended."}, {"label": "subtasks", "start_step": 52, "end_step": 97, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand closes fingers around the green block to establish stable grip."}, {"label": "subtasks", "start_step": 98, "end_step": 149, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: push: Right hand pushes the green block on the table slightly towards the left direction."}, {"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 table without obvious movement. | Right hand: grasp: Right hand adjusts its grip on the green cylindrical object placed on the black table."}, {"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 table without obvious movement. | Right hand: lift_transport: Right hand lifts the green cylindrical object from the table and moves it toward the purple peg on the wooden base."}, {"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 table without obvious movement. | Right hand: place: Right hand places the green cylindrical object onto the top of the target purple peg."}, {"label": "subtasks", "start_step": 195, "end_step": 284, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: press: Right hand presses the green cylindrical object down along the purple peg to secure it."}, {"label": "subtasks", "start_step": 285, "end_step": 307, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves down towards the white hexagonal object on the black table surface."}, {"label": "subtasks", "start_step": 308, "end_step": 351, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal object on the black table surface."}, {"label": "subtasks", "start_step": 352, "end_step": 374, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the tabletop and transports it to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 375, "end_step": 397, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it onto the top of the rod."}, {"label": "subtasks", "start_step": 398, "end_step": 434, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: press: Right hand presses the white hexagonal block down along the purple rod to the lower position."}, {"label": "subtasks", "start_step": 435, "end_step": 479, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: hold: Right hand holds the white hexagonal block on the purple rod without moving."}, {"label": "subtasks", "start_step": 480, "end_step": 501, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand mates the white cylindrical block onto the purple peg of the wooden base."}, {"label": "subtasks", "start_step": 502, "end_step": 524, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: retreat: Right hand moves downward away from the wooden base towards the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 525, "end_step": 584, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand adjusts its fingers to grasp the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 585, "end_step": 607, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it towards the test tube rack."}, {"label": "subtasks", "start_step": 608, "end_step": 727, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand mates the white hexagonal block onto the purple test tube on the test tube rack with adjustment movements."}, {"label": "subtasks", "start_step": 728, "end_step": 757, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: retreat: Right hand retreats from the assembled white hexagonal block towards the adjacent test tube."}, {"label": "subtasks", "start_step": 758, "end_step": 794, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand reaches towards the white hexagonal block on the adjacent test tube of the rack."}, {"label": "subtasks", "start_step": 795, "end_step": 809, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the adjacent test tube of the rack."}, {"label": "subtasks", "start_step": 810, "end_step": 869, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 870, "end_step": 884, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 885, "end_step": 921, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it towards the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 922, "end_step": 974, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: place: Right hand places the white hexagonal block onto the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 975, "end_step": 997, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: release: Right hand releases the green block on the purple rod of the wooden base and moves downward."}, {"label": "subtasks", "start_step": 998, "end_step": 1034, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves downward toward the green block placed on the black tabletop."}, {"label": "subtasks", "start_step": 1035, "end_step": 1057, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand closes its fingers to grasp the green block on the black tabletop."}, {"label": "subtasks", "start_step": 1058, "end_step": 1079, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the green block from the tabletop and transports it to the top of the target rod on the wooden base."}, {"label": "subtasks", "start_step": 1080, "end_step": 1191, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand aligns the green block with the target rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 1192, "end_step": 1259, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: press: Right hand presses the green block down along the rod to secure its position."}, {"label": "subtasks", "start_step": 1260, "end_step": 1304, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: hold: Right hand holds the green block on the rod without any movement."}, {"label": "subtasks", "start_step": 1305, "end_step": 1341, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: place_release: Right hand places the white cylindrical block onto the peg on top of the green block on the wooden base and releases the block."}, {"label": "subtasks", "start_step": 1342, "end_step": 1379, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves downward toward the green block on the black table surface."}, {"label": "subtasks", "start_step": 1380, "end_step": 1409, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 1410, "end_step": 1454, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block and transports it toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1455, "end_step": 1514, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod, adjusting to fit into position."}, {"label": "subtasks", "start_step": 1515, "end_step": 1544, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: place_release: Right hand places the white hexagonal block onto the purple peg of the wooden base and releases the grip on the block."}, {"label": "subtasks", "start_step": 1545, "end_step": 1589, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves downwards towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1590, "end_step": 1611, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 1612, "end_step": 1641, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1642, "end_step": 1694, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod by aligning and lowering it onto the rod."}, {"label": "subtasks", "start_step": 1695, "end_step": 1717, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: release: Right hand releases the white hexagonal block placed on the purple rod of the wooden base."}, {"label": "subtasks", "start_step": 1718, "end_step": 1754, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1755, "end_step": 1777, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface with fingers closing around the block."}, {"label": "subtasks", "start_step": 1778, "end_step": 1799, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and transports it upward toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1800, "end_step": 1874, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod by aligning the block's hole with the rod and inserting it down onto the rod."}, {"label": "subtasks", "start_step": 1875, "end_step": 1904, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: place_release: Right hand places the white cylindrical block onto the wooden base and releases the block."}, {"label": "subtasks", "start_step": 1905, "end_step": 1941, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves towards the green square block on the lower right of the table."}, {"label": "subtasks", "start_step": 1942, "end_step": 1949, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand closes its fingers to grasp the green square block on the table."}, {"label": "subtasks", "start_step": 1950, "end_step": 1971, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: hold: Right hand holds the green square block on the right side of the table without moving."}, {"label": "subtasks", "start_step": 1972, "end_step": 2001, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: transport: Right hand transports the green square block towards the rightmost white post on the wooden base."}, {"label": "subtasks", "start_step": 2002, "end_step": 2114, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand mates the green square block onto the rightmost white post on the wooden base."}, {"label": "subtasks", "start_step": 2115, "end_step": 2129, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: release_retreat: Right hand releases the green square block and retreats from the wooden base."}], "episode_index": 7}
+{"source_uid": "30cc09b0c8d98833", "num_frames": 2050, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 74, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no obvious displacement or interaction with any objects. | Right hand: reach: Right hand moves forward and downward with open fingers from its initial right position toward the green hexagonal nut placed next to the wooden block stand."}, {"label": "goal", "start_step": 0, "end_step": 136, "id": "5c943be5-f088-455b-b630-b8eceac473fd"}, {"label": "valid", "start_step": 0, "end_step": 2016, "id": "rTzzIWirMHBUoCSvbM8U2"}, {"label": "subtasks", "start_step": 75, "end_step": 134, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no obvious displacement or interaction with any objects. | Right hand: grasp: Right hand adjusts finger positions and closes fingers gradually to establish contact and form a grasp on the green hexagonal nut on the table surface."}, {"label": "subtasks", "start_step": 135, "end_step": 164, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no obvious displacement or interaction with any objects. | Right hand: lift: Right hand holds the green hexagonal block and moves upward to lift it completely off the black table surface."}, {"label": "goal", "start_step": 137, "end_step": 260, "id": "eb27bf6d-9722-48e1-a532-7aa687a2478a"}, {"label": "subtasks", "start_step": 165, "end_step": 187, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no obvious displacement or interaction with any objects. | Right hand: transport: Right hand carries the lifted green hexagonal block to position directly above the target purple assembly peg."}, {"label": "subtasks", "start_step": 188, "end_step": 247, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no obvious displacement or interaction with any objects. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple assembly peg and moves downward to fit the block onto the peg."}, {"label": "subtasks", "start_step": 248, "end_step": 254, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no obvious displacement or interaction with any objects. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple assembly peg without observable movement."}, {"label": "subtasks", "start_step": 255, "end_step": 314, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no obvious displacement or interaction with any objects. | Right hand: reach: Right hand moves downward from the wooden peg assembly toward the white hexagonal nut on the black table surface, approaching the target without establishing contact."}, {"label": "goal", "start_step": 261, "end_step": 326, "id": "0fd5432f-2bbc-4c19-aafd-66571c584797"}, {"label": "subtasks", "start_step": 315, "end_step": 351, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no obvious displacement or interaction with any objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table surface to form a stable grasp on the object."}, {"label": "goal", "start_step": 327, "end_step": 486, "id": "fac3d19a-0689-4282-ab76-db98cd0fe079"}, {"label": "subtasks", "start_step": 352, "end_step": 367, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no obvious displacement or interaction with any objects. | Right hand: lift: Right hand lifts the grasped white hexagonal nut vertically upward to fully separate it from the supporting table surface."}, {"label": "subtasks", "start_step": 368, "end_step": 389, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no obvious displacement or interaction with any objects. | Right hand: transport: Right hand moves the grasped white hexagonal nut upward and leftward to position it directly above the leftmost purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 390, "end_step": 479, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no obvious displacement or interaction with any objects. | Right hand: mate: Right hand aligns the white hexagonal nut with the leftmost purple peg, lowers the nut to fit onto the peg, and makes small adjustments to properly seat the nut during assembly."}, {"label": "subtasks", "start_step": 480, "end_step": 531, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no obvious displacement or interaction with any objects. | Right hand: reach: Right hand moves downward and forward from the position above the wooden pegboard toward the front white hexagonal nut on the black work surface, with fingers slightly spread and no contact with the nut yet."}, {"label": "goal", "start_step": 487, "end_step": 566, "id": "5e58da87-5da8-4162-8c53-3b7f707e7fdd"}, {"label": "subtasks", "start_step": 532, "end_step": 584, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no obvious displacement or interaction with any objects. | Right hand: grasp: Right hand contacts the front white hexagonal nut on the black work surface, adjusting finger positions to close around the nut to form a grip, with the nut remaining on the work surface."}, {"label": "goal", "start_step": 567, "end_step": 712, "id": "4b5dc739-6d28-41b3-aa6c-04d5faf59937"}, {"label": "subtasks", "start_step": 585, "end_step": 614, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no obvious displacement or interaction with any objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface, moving it upward to position above the purple rod on the wooden assembly block."}, {"label": "subtasks", "start_step": 615, "end_step": 704, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no obvious displacement or interaction with any objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the top of the purple rod, lowering the nut to seat onto the rod."}, {"label": "subtasks", "start_step": 705, "end_step": 741, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no obvious displacement or interaction with any objects. | Right hand: mate_release: Right hand aligns and fits the white hexagonal block onto the purple peg on the wooden base, releasing grip on the block once it is seated on the peg."}, {"label": "goal", "start_step": 713, "end_step": 780, "id": "529ebd62-475b-45aa-97dc-b495732d02f4"}, {"label": "subtasks", "start_step": 742, "end_step": 757, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no obvious displacement or interaction with any objects. | Right hand: reach: Right hand moves downward while empty toward the nearest white hexagonal block on the table surface, approaching the target block without contact."}, {"label": "subtasks", "start_step": 758, "end_step": 801, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no obvious displacement or interaction with any objects. | Right hand: grasp: Right hand closes fingers around the nearby white hexagonal block on the table, adjusting finger contact positions to establish a stable grip on the block."}, {"label": "goal", "start_step": 781, "end_step": 904, "id": "dc72e92d-d1b3-47ed-b03e-3087ba20c0ea"}, {"label": "subtasks", "start_step": 802, "end_step": 824, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no obvious displacement or interaction with any objects. | Right hand: lift_transport: Right hand lifts the white hexagonal nut completely off the table surface and moves it upward to position directly above the empty purple peg on the wooden base."}, {"label": "subtasks", "start_step": 825, "end_step": 899, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no obvious displacement or interaction with any objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the empty purple peg on the wooden base and lowers the nut to fit onto the peg to establish the assembled connection."}, {"label": "subtasks", "start_step": 900, "end_step": 959, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no obvious displacement or interaction with any objects. | Right hand: reach: Right hand moves downward from the wooden block assembly area toward the green hexagonal nut on the black table surface, fingers slightly spread."}, {"label": "goal", "start_step": 905, "end_step": 978, "id": "d073740c-d2d6-4e28-85f2-9c1a93f2ca10"}, {"label": "subtasks", "start_step": 960, "end_step": 1004, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no obvious displacement or interaction with any objects. | Right hand: grasp: Right hand closes fingers around the green hexagonal nut on the table to establish a stable grip."}, {"label": "goal", "start_step": 979, "end_step": 1110, "id": "45c2b105-6cf0-4ae9-8c10-627d345a3548"}, {"label": "subtasks", "start_step": 1005, "end_step": 1034, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no obvious displacement or interaction with any objects. | Right hand: lift_transport: Right hand lifts the green hexagonal block completely off the table surface, and moves it upward to position above the purple post on the wooden block assembly."}, {"label": "subtasks", "start_step": 1035, "end_step": 1079, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no obvious displacement or interaction with any objects. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple post, and lowers the block to fit snugly onto the post to form the assembly."}, {"label": "subtasks", "start_step": 1080, "end_step": 1109, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no obvious displacement or interaction with any objects. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple post without any visible movement of the hand or the block."}, {"label": "subtasks", "start_step": 1110, "end_step": 1147, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no obvious displacement or interaction with any objects. | Right hand: reach: Right hand moves downward from the area near the wooden pegboard toward the white hexagonal nut resting on the dark table surface adjacent to the green block, making no contact with the nut during this movement."}, {"label": "goal", "start_step": 1111, "end_step": 1188, "id": "b2cc34ba-7891-4233-9691-1978ccf3b669"}, {"label": "subtasks", "start_step": 1148, "end_step": 1207, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no obvious displacement or interaction with any objects. | Right hand: grasp: Right hand contacts the white hexagonal nut on the table, adjusting its finger positions and closing fingers around the nut to establish a grip."}, {"label": "goal", "start_step": 1189, "end_step": 1300, "id": "41fd41d8-9c36-40d1-88f6-7fbce2246647"}, {"label": "subtasks", "start_step": 1208, "end_step": 1229, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no obvious displacement or interaction with any objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block completely off the table surface and moves it toward the purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 1230, "end_step": 1289, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no obvious displacement or interaction with any objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple peg, lowers the block to fit onto the peg, and makes small positional adjustments to seat it properly."}, {"label": "subtasks", "start_step": 1290, "end_step": 1327, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no obvious displacement or interaction with any objects. | Right hand: place_release: Right hand holds the white hexagonal block, moves it downward to seat it onto the corresponding vertical rod on the wooden stand, releasing fingers to separate from the stably supported block."}, {"label": "goal", "start_step": 1301, "end_step": 1374, "id": "4244b62f-d901-417f-9a0a-8e132d85e2d0"}, {"label": "subtasks", "start_step": 1328, "end_step": 1349, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no obvious displacement or interaction with any objects. | Right hand: reach: Right hand moves empty downward and rightward toward the nearest white hexagonal nut resting on the dark table surface adjacent to the wooden stand."}, {"label": "subtasks", "start_step": 1350, "end_step": 1394, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no obvious displacement or interaction with any objects. | Right hand: grasp: Right hand closes fingers around the adjacent white hexagonal nut on the table, adjusting finger contact positions to establish a secure hold on the object."}, {"label": "goal", "start_step": 1375, "end_step": 1488, "id": "5fc0fdf2-9eb2-4198-bc19-c8b45419e1bc"}, {"label": "subtasks", "start_step": 1395, "end_step": 1424, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no obvious displacement or interaction with any objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the table surface and moves it upward to position directly above the purple vertical rod on the wooden block stand."}, {"label": "subtasks", "start_step": 1425, "end_step": 1447, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no obvious displacement or interaction with any objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the top of the purple vertical rod and fits the nut onto the rod to establish the assembly connection."}, {"label": "subtasks", "start_step": 1448, "end_step": 1484, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no obvious displacement or interaction with any objects. | Right hand: place: Right hand lowers the white hexagonal nut along the purple vertical rod until the nut rests securely on the supporting white block at the rod base."}, {"label": "subtasks", "start_step": 1485, "end_step": 1529, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no obvious displacement or interaction with any objects. | Right hand: reach: Right hand moves from the area above the wooden block set down toward the white hexagonal block on the table surface, with fingers slightly open as it approaches the target block."}, {"label": "goal", "start_step": 1489, "end_step": 1552, "id": "01e20e6f-0483-463c-9df2-da800ef399dd"}, {"label": "subtasks", "start_step": 1530, "end_step": 1567, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no obvious displacement or interaction with any objects. | Right hand: grasp: Right hand closes its fingers around the white hexagonal block on the table, making small adjustments to finger positions to form a stable grip on the block."}, {"label": "goal", "start_step": 1553, "end_step": 1708, "id": "bea058c8-7e52-4fb1-ae12-1a73d369c7fc"}, {"label": "subtasks", "start_step": 1568, "end_step": 1604, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no obvious displacement or interaction with any objects. | Right hand: lift_transport: Right hand lifts the white hexagonal block fully off the table surface and moves it upward and leftward to position it directly above the purple rod on the wooden block set."}, {"label": "subtasks", "start_step": 1605, "end_step": 1694, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no obvious displacement or interaction with any objects. | Right hand: mate: Right hand holds the white hexagonal block and makes small positional and rotational adjustments to align the central hole of the block with the purple rod below, preparing to fit the block onto the rod."}, {"label": "subtasks", "start_step": 1695, "end_step": 1724, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no obvious displacement or interaction with any objects. | Right hand: release: Right hand releases the white cylindrical block with purple top inserted in the wooden base, fingers opening and separating from the block."}, {"label": "goal", "start_step": 1709, "end_step": 1770, "id": "dbfc6975-c1d0-443e-a197-1baf12a8a5b0"}, {"label": "subtasks", "start_step": 1725, "end_step": 1754, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no obvious displacement or interaction with any objects. | Right hand: reach: Right hand moves empty downward and rightward toward the green square block placed on the dark table surface."}, {"label": "subtasks", "start_step": 1755, "end_step": 1769, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no obvious displacement or interaction with any objects. | Right hand: grasp: Right hand closes fingers around the green square block on the table surface to form a grasp, with the block remaining on the supporting table."}, {"label": "subtasks", "start_step": 1770, "end_step": 1791, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no obvious displacement or interaction with any objects. | Right hand: hold: Right hand holds the green hollow block steadily on the black table surface without movement."}, {"label": "goal", "start_step": 1771, "end_step": 1978, "id": "90210b0d-e9e2-4469-951f-5ac50bd6b452"}, {"label": "subtasks", "start_step": 1792, "end_step": 1821, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no obvious displacement or interaction with any objects. | Right hand: lift_transport: Right hand lifts the green hollow block off the table surface, transporting it upward and leftward to the position above the target white cylinder on the wooden block holder."}, {"label": "subtasks", "start_step": 1822, "end_step": 1979, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no obvious displacement or interaction with any objects. | Right hand: mate: Right hand aligns the central hole of the green hollow block with the target white cylinder on the wooden holder, moving the block downward to fit the cylinder through the hole."}, {"label": "home", "start_step": 2017, "end_step": 2049, "id": "vg_ezh05FB1z1QzcyGZVW"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 74, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no obvious displacement or interaction with any objects. | Right hand: reach: Right hand moves forward and downward with open fingers from its initial right position toward the green hexagonal nut placed next to the wooden block stand."}, {"label": "subtasks", "start_step": 75, "end_step": 134, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no obvious displacement or interaction with any objects. | Right hand: grasp: Right hand adjusts finger positions and closes fingers gradually to establish contact and form a grasp on the green hexagonal nut on the table surface."}, {"label": "subtasks", "start_step": 135, "end_step": 164, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no obvious displacement or interaction with any objects. | Right hand: lift: Right hand holds the green hexagonal block and moves upward to lift it completely off the black table surface."}, {"label": "subtasks", "start_step": 165, "end_step": 187, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no obvious displacement or interaction with any objects. | Right hand: transport: Right hand carries the lifted green hexagonal block to position directly above the target purple assembly peg."}, {"label": "subtasks", "start_step": 188, "end_step": 247, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no obvious displacement or interaction with any objects. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple assembly peg and moves downward to fit the block onto the peg."}, {"label": "subtasks", "start_step": 248, "end_step": 254, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no obvious displacement or interaction with any objects. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple assembly peg without observable movement."}, {"label": "subtasks", "start_step": 255, "end_step": 314, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no obvious displacement or interaction with any objects. | Right hand: reach: Right hand moves downward from the wooden peg assembly toward the white hexagonal nut on the black table surface, approaching the target without establishing contact."}, {"label": "subtasks", "start_step": 315, "end_step": 351, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no obvious displacement or interaction with any objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table surface to form a stable grasp on the object."}, {"label": "subtasks", "start_step": 352, "end_step": 367, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no obvious displacement or interaction with any objects. | Right hand: lift: Right hand lifts the grasped white hexagonal nut vertically upward to fully separate it from the supporting table surface."}, {"label": "subtasks", "start_step": 368, "end_step": 389, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no obvious displacement or interaction with any objects. | Right hand: transport: Right hand moves the grasped white hexagonal nut upward and leftward to position it directly above the leftmost purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 390, "end_step": 479, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no obvious displacement or interaction with any objects. | Right hand: mate: Right hand aligns the white hexagonal nut with the leftmost purple peg, lowers the nut to fit onto the peg, and makes small adjustments to properly seat the nut during assembly."}, {"label": "subtasks", "start_step": 480, "end_step": 531, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no obvious displacement or interaction with any objects. | Right hand: reach: Right hand moves downward and forward from the position above the wooden pegboard toward the front white hexagonal nut on the black work surface, with fingers slightly spread and no contact with the nut yet."}, {"label": "subtasks", "start_step": 532, "end_step": 584, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no obvious displacement or interaction with any objects. | Right hand: grasp: Right hand contacts the front white hexagonal nut on the black work surface, adjusting finger positions to close around the nut to form a grip, with the nut remaining on the work surface."}, {"label": "subtasks", "start_step": 585, "end_step": 614, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no obvious displacement or interaction with any objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface, moving it upward to position above the purple rod on the wooden assembly block."}, {"label": "subtasks", "start_step": 615, "end_step": 704, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no obvious displacement or interaction with any objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the top of the purple rod, lowering the nut to seat onto the rod."}, {"label": "subtasks", "start_step": 705, "end_step": 741, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no obvious displacement or interaction with any objects. | Right hand: mate_release: Right hand aligns and fits the white hexagonal block onto the purple peg on the wooden base, releasing grip on the block once it is seated on the peg."}, {"label": "subtasks", "start_step": 742, "end_step": 757, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no obvious displacement or interaction with any objects. | Right hand: reach: Right hand moves downward while empty toward the nearest white hexagonal block on the table surface, approaching the target block without contact."}, {"label": "subtasks", "start_step": 758, "end_step": 801, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no obvious displacement or interaction with any objects. | Right hand: grasp: Right hand closes fingers around the nearby white hexagonal block on the table, adjusting finger contact positions to establish a stable grip on the block."}, {"label": "subtasks", "start_step": 802, "end_step": 824, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no obvious displacement or interaction with any objects. | Right hand: lift_transport: Right hand lifts the white hexagonal nut completely off the table surface and moves it upward to position directly above the empty purple peg on the wooden base."}, {"label": "subtasks", "start_step": 825, "end_step": 899, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no obvious displacement or interaction with any objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the empty purple peg on the wooden base and lowers the nut to fit onto the peg to establish the assembled connection."}, {"label": "subtasks", "start_step": 900, "end_step": 959, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no obvious displacement or interaction with any objects. | Right hand: reach: Right hand moves downward from the wooden block assembly area toward the green hexagonal nut on the black table surface, fingers slightly spread."}, {"label": "subtasks", "start_step": 960, "end_step": 1004, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no obvious displacement or interaction with any objects. | Right hand: grasp: Right hand closes fingers around the green hexagonal nut on the table to establish a stable grip."}, {"label": "subtasks", "start_step": 1005, "end_step": 1034, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no obvious displacement or interaction with any objects. | Right hand: lift_transport: Right hand lifts the green hexagonal block completely off the table surface, and moves it upward to position above the purple post on the wooden block assembly."}, {"label": "subtasks", "start_step": 1035, "end_step": 1079, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no obvious displacement or interaction with any objects. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple post, and lowers the block to fit snugly onto the post to form the assembly."}, {"label": "subtasks", "start_step": 1080, "end_step": 1109, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no obvious displacement or interaction with any objects. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple post without any visible movement of the hand or the block."}, {"label": "subtasks", "start_step": 1110, "end_step": 1147, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no obvious displacement or interaction with any objects. | Right hand: reach: Right hand moves downward from the area near the wooden pegboard toward the white hexagonal nut resting on the dark table surface adjacent to the green block, making no contact with the nut during this movement."}, {"label": "subtasks", "start_step": 1148, "end_step": 1207, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no obvious displacement or interaction with any objects. | Right hand: grasp: Right hand contacts the white hexagonal nut on the table, adjusting its finger positions and closing fingers around the nut to establish a grip."}, {"label": "subtasks", "start_step": 1208, "end_step": 1229, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no obvious displacement or interaction with any objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block completely off the table surface and moves it toward the purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 1230, "end_step": 1289, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no obvious displacement or interaction with any objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple peg, lowers the block to fit onto the peg, and makes small positional adjustments to seat it properly."}, {"label": "subtasks", "start_step": 1290, "end_step": 1327, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no obvious displacement or interaction with any objects. | Right hand: place_release: Right hand holds the white hexagonal block, moves it downward to seat it onto the corresponding vertical rod on the wooden stand, releasing fingers to separate from the stably supported block."}, {"label": "subtasks", "start_step": 1328, "end_step": 1349, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no obvious displacement or interaction with any objects. | Right hand: reach: Right hand moves empty downward and rightward toward the nearest white hexagonal nut resting on the dark table surface adjacent to the wooden stand."}, {"label": "subtasks", "start_step": 1350, "end_step": 1394, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no obvious displacement or interaction with any objects. | Right hand: grasp: Right hand closes fingers around the adjacent white hexagonal nut on the table, adjusting finger contact positions to establish a secure hold on the object."}, {"label": "subtasks", "start_step": 1395, "end_step": 1424, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no obvious displacement or interaction with any objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the table surface and moves it upward to position directly above the purple vertical rod on the wooden block stand."}, {"label": "subtasks", "start_step": 1425, "end_step": 1447, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no obvious displacement or interaction with any objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the top of the purple vertical rod and fits the nut onto the rod to establish the assembly connection."}, {"label": "subtasks", "start_step": 1448, "end_step": 1484, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no obvious displacement or interaction with any objects. | Right hand: place: Right hand lowers the white hexagonal nut along the purple vertical rod until the nut rests securely on the supporting white block at the rod base."}, {"label": "subtasks", "start_step": 1485, "end_step": 1529, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no obvious displacement or interaction with any objects. | Right hand: reach: Right hand moves from the area above the wooden block set down toward the white hexagonal block on the table surface, with fingers slightly open as it approaches the target block."}, {"label": "subtasks", "start_step": 1530, "end_step": 1567, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no obvious displacement or interaction with any objects. | Right hand: grasp: Right hand closes its fingers around the white hexagonal block on the table, making small adjustments to finger positions to form a stable grip on the block."}, {"label": "subtasks", "start_step": 1568, "end_step": 1604, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no obvious displacement or interaction with any objects. | Right hand: lift_transport: Right hand lifts the white hexagonal block fully off the table surface and moves it upward and leftward to position it directly above the purple rod on the wooden block set."}, {"label": "subtasks", "start_step": 1605, "end_step": 1694, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no obvious displacement or interaction with any objects. | Right hand: mate: Right hand holds the white hexagonal block and makes small positional and rotational adjustments to align the central hole of the block with the purple rod below, preparing to fit the block onto the rod."}, {"label": "subtasks", "start_step": 1695, "end_step": 1724, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no obvious displacement or interaction with any objects. | Right hand: release: Right hand releases the white cylindrical block with purple top inserted in the wooden base, fingers opening and separating from the block."}, {"label": "subtasks", "start_step": 1725, "end_step": 1754, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no obvious displacement or interaction with any objects. | Right hand: reach: Right hand moves empty downward and rightward toward the green square block placed on the dark table surface."}, {"label": "subtasks", "start_step": 1755, "end_step": 1769, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no obvious displacement or interaction with any objects. | Right hand: grasp: Right hand closes fingers around the green square block on the table surface to form a grasp, with the block remaining on the supporting table."}, {"label": "subtasks", "start_step": 1770, "end_step": 1791, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no obvious displacement or interaction with any objects. | Right hand: hold: Right hand holds the green hollow block steadily on the black table surface without movement."}, {"label": "subtasks", "start_step": 1792, "end_step": 1821, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no obvious displacement or interaction with any objects. | Right hand: lift_transport: Right hand lifts the green hollow block off the table surface, transporting it upward and leftward to the position above the target white cylinder on the wooden block holder."}, {"label": "subtasks", "start_step": 1822, "end_step": 1979, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no obvious displacement or interaction with any objects. | Right hand: mate: Right hand aligns the central hole of the green hollow block with the target white cylinder on the wooden holder, moving the block downward to fit the cylinder through the hole."}], "episode_index": 8}
+{"source_uid": "eab94319533592eb", "num_frames": 2670, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 104, "id": "reasoning-language-00001", "text": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: reach: Right hand moves leftward and downward from the right side of the workbench toward the green hexagonal block on the left lower part of the table."}, {"label": "goal", "start_step": 0, "end_step": 202, "id": "9b86e8db-2f96-4cc5-a6c9-0089f6103dd3"}, {"label": "valid", "start_step": 0, "end_step": 2636, "id": "yMnS-YtA_WqSbZ0nT4b8M"}, {"label": "subtasks", "start_step": 105, "end_step": 277, "id": "reasoning-language-00002", "text": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: grasp: Right hand grasps the green hexagonal block on the left lower part of the table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 203, "end_step": 378, "id": "5a9edaa8-7fa9-4251-9bf3-c6d48510462e"}, {"label": "subtasks", "start_step": 278, "end_step": 291, "id": "reasoning-language-00003", "text": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: lift: Right hand lifts the green hexagonal block upward away from the table surface."}, {"label": "subtasks", "start_step": 292, "end_step": 321, "id": "reasoning-language-00004", "text": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: transport: Right hand transports the green hexagonal block to the position above the leftmost purple peg of the wooden rack."}, {"label": "subtasks", "start_step": 322, "end_step": 367, "id": "reasoning-language-00005", "text": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: mate: Right hand mates the green hexagonal block onto the leftmost purple peg of the wooden rack by lowering it and fitting its hole over the peg."}, {"label": "subtasks", "start_step": 368, "end_step": 374, "id": "reasoning-language-00006", "text": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: hold: Right hand holds the green hexagonal block on the leftmost purple peg of the wooden rack without moving."}, {"label": "subtasks", "start_step": 375, "end_step": 404, "id": "reasoning-language-00007", "text": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: mate_release: Right hand mates the white hexagonal ring onto the left green peg of the pegboard and releases its grip."}, {"label": "goal", "start_step": 379, "end_step": 456, "id": "51ceab88-d0f2-438d-9b5b-c60fce919345"}, {"label": "subtasks", "start_step": 405, "end_step": 427, "id": "reasoning-language-00008", "text": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: reach: Right hand moves down and left toward the white hexagonal ring on the table."}, {"label": "subtasks", "start_step": 428, "end_step": 479, "id": "reasoning-language-00009", "text": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: grasp: Right hand grasps the white hexagonal ring on the table, with fingers adjusting to secure the grip."}, {"label": "goal", "start_step": 457, "end_step": 586, "id": "74e8a2fa-a6a1-44d4-83be-d5ca65f39c44"}, {"label": "subtasks", "start_step": 480, "end_step": 494, "id": "reasoning-language-00010", "text": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: lift_transport: Right hand lifts and transports the white hexagonal block from the table surface to the position above the leftmost purple rod."}, {"label": "subtasks", "start_step": 495, "end_step": 554, "id": "reasoning-language-00011", "text": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: mate: Right hand mates the white hexagonal block with the leftmost purple rod by aligning and inserting it downward along the rod."}, {"label": "subtasks", "start_step": 555, "end_step": 584, "id": "reasoning-language-00012", "text": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: hold: Right hand holds the white hexagonal block fitted on the leftmost purple rod without moving."}, {"label": "subtasks", "start_step": 585, "end_step": 607, "id": "reasoning-language-00013", "text": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: mate_release: Right hand mates the white cylindrical block onto the front-left purple peg and releases its grip on the block."}, {"label": "goal", "start_step": 587, "end_step": 666, "id": "97f700ec-0473-42fb-b3d1-2e6f561f6dbc"}, {"label": "subtasks", "start_step": 608, "end_step": 637, "id": "reasoning-language-00014", "text": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 638, "end_step": 681, "id": "reasoning-language-00015", "text": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing around it."}, {"label": "goal", "start_step": 667, "end_step": 858, "id": "8837e4e7-6a21-4f56-bbf6-b12217fd212d"}, {"label": "subtasks", "start_step": 682, "end_step": 704, "id": "reasoning-language-00016", "text": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table while transporting it toward the peg rack on the right."}, {"label": "subtasks", "start_step": 705, "end_step": 824, "id": "reasoning-language-00017", "text": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: mate: Right hand mates the white hexagonal block with the leftmost peg of the rack, adjusting the block to fit onto the peg completely."}, {"label": "subtasks", "start_step": 825, "end_step": 847, "id": "reasoning-language-00018", "text": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: release: Right hand releases the white hexagonal block on the peg, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 848, "end_step": 854, "id": "reasoning-language-00019", "text": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: retreat: Right hand retreats upward and away from the peg rack after releasing the block."}, {"label": "subtasks", "start_step": 855, "end_step": 891, "id": "reasoning-language-00020", "text": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: reach: Right hand moves downward from the rack toward the white hexagonal block on the table."}, {"label": "goal", "start_step": 859, "end_step": 1150, "id": "a8950d52-2246-4a9e-873b-49cb03e36b38"}, {"label": "subtasks", "start_step": 892, "end_step": 937, "id": "reasoning-language-00021", "text": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing and adjusting the grip."}, {"label": "subtasks", "start_step": 938, "end_step": 1041, "id": "reasoning-language-00022", "text": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: push: Right hand pushes the white hexagonal block forward on the table surface toward the rack."}, {"label": "subtasks", "start_step": 1042, "end_step": 1064, "id": "reasoning-language-00023", "text": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: release: Right hand releases the white hexagonal block, with fingers opening and separating from the block."}, {"label": "subtasks", "start_step": 1065, "end_step": 1094, "id": "reasoning-language-00024", "text": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: reach: Right hand moves upward toward the white block on the right purple peg of the rack."}, {"label": "subtasks", "start_step": 1095, "end_step": 1139, "id": "reasoning-language-00025", "text": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: grasp_press: Right hand grasps and presses down the white block on the right purple peg of the rack."}, {"label": "subtasks", "start_step": 1140, "end_step": 1169, "id": "reasoning-language-00026", "text": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table near the wooden rack, with fingers closing to adjust the grip while the block stays on the table."}, {"label": "goal", "start_step": 1151, "end_step": 1350, "id": "493b9da0-5205-4db2-a1bf-bf0b740fb457"}, {"label": "subtasks", "start_step": 1170, "end_step": 1191, "id": "reasoning-language-00027", "text": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it upward and rightward to the position above the purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 1192, "end_step": 1267, "id": "reasoning-language-00028", "text": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: mate: Right hand mates the white hexagonal block with the purple peg on the wooden rack, lowering the block onto the peg until it is supported by the lower block on the peg."}, {"label": "subtasks", "start_step": 1268, "end_step": 1327, "id": "reasoning-language-00029", "text": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple peg of the wooden rack without moving."}, {"label": "subtasks", "start_step": 1328, "end_step": 1349, "id": "reasoning-language-00030", "text": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: release: Right hand releases the white hexagonal block on the purple peg, with fingers opening and moving slightly away from the block."}, {"label": "subtasks", "start_step": 1350, "end_step": 1387, "id": "reasoning-language-00031", "text": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: reach: Right hand reaches downward toward the green hexagonal block on the black table without making contact."}, {"label": "goal", "start_step": 1351, "end_step": 1418, "id": "3b981d29-5887-4e41-b2d1-99c46c1bbd19"}, {"label": "subtasks", "start_step": 1388, "end_step": 1439, "id": "reasoning-language-00032", "text": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table, with fingers closing and adjusting to form a stable grip."}, {"label": "goal", "start_step": 1419, "end_step": 1566, "id": "81dbe4ed-2a46-4fe8-91c6-b459976304d6"}, {"label": "subtasks", "start_step": 1440, "end_step": 1461, "id": "reasoning-language-00033", "text": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: lift_transport: Right hand lifts and transports the green hexagonal block from the table upward to the position above the target peg on the wooden board."}, {"label": "subtasks", "start_step": 1462, "end_step": 1559, "id": "reasoning-language-00034", "text": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: mate: Right hand mates the green hexagonal block with the target peg by aligning and inserting it downward onto the peg until the block is supported by the white block below."}, {"label": "subtasks", "start_step": 1560, "end_step": 1589, "id": "reasoning-language-00035", "text": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: release: Right hand releases the green hexagonal block on the peg, with fingers opening to separate from the block."}, {"label": "goal", "start_step": 1567, "end_step": 1628, "id": "b318c28d-971f-47a0-b8a2-1334bb485920"}, {"label": "subtasks", "start_step": 1590, "end_step": 1634, "id": "reasoning-language-00036", "text": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the black table surface."}, {"label": "goal", "start_step": 1629, "end_step": 1758, "id": "2fe78e7b-e5e6-44eb-9b70-c4dfb3009cc7"}, {"label": "subtasks", "start_step": 1635, "end_step": 1649, "id": "reasoning-language-00037", "text": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface with fingers closing."}, {"label": "subtasks", "start_step": 1650, "end_step": 1664, "id": "reasoning-language-00038", "text": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: lift: Right hand lifts the white hexagonal block upward until it leaves the black table surface."}, {"label": "subtasks", "start_step": 1665, "end_step": 1679, "id": "reasoning-language-00039", "text": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: transport: Right hand transports the white hexagonal block upward to the position above the wooden rack's peg."}, {"label": "subtasks", "start_step": 1680, "end_step": 1747, "id": "reasoning-language-00040", "text": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: mate: Right hand mates the white hexagonal block onto the wooden rack's peg by aligning and lowering it onto the peg."}, {"label": "subtasks", "start_step": 1748, "end_step": 1754, "id": "reasoning-language-00041", "text": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: release: Right hand releases the white hexagonal block on the wooden rack's peg, with fingers opening."}, {"label": "subtasks", "start_step": 1755, "end_step": 1777, "id": "reasoning-language-00042", "text": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: press: Right hand presses the white cylindrical part on the purple rod downward to adjust its position."}, {"label": "goal", "start_step": 1759, "end_step": 1820, "id": "3493fd0e-2591-41ac-9050-3390b4ddbbe2"}, {"label": "subtasks", "start_step": 1778, "end_step": 1814, "id": "reasoning-language-00043", "text": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: reach: Right hand moves downward toward the white hexagonal part on the black table surface."}, {"label": "subtasks", "start_step": 1815, "end_step": 1844, "id": "reasoning-language-00044", "text": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: grasp: Right hand grasps the white hexagonal part on the black table surface with fingers closing."}, {"label": "goal", "start_step": 1821, "end_step": 2058, "id": "f374caea-11fe-4bb0-b68a-1107384400c7"}, {"label": "subtasks", "start_step": 1845, "end_step": 1874, "id": "reasoning-language-00045", "text": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: lift_transport: Right hand lifts the white hexagonal part from the table surface and moves it upward toward the purple rod."}, {"label": "subtasks", "start_step": 1875, "end_step": 2024, "id": "reasoning-language-00046", "text": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: mate: Right hand aligns the white hexagonal part with the purple rod, fits it onto the rod, and presses it down to complete assembly."}, {"label": "subtasks", "start_step": 2025, "end_step": 2054, "id": "reasoning-language-00047", "text": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: release: Right hand releases the white hexagonal part on the purple rod with fingers opening."}, {"label": "subtasks", "start_step": 2055, "end_step": 2069, "id": "reasoning-language-00048", "text": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: idle: Right hand remains empty beside the purple rod without moving."}, {"label": "goal", "start_step": 2059, "end_step": 2132, "id": "2ba76a32-bead-41f4-829f-4add2af173dd"}, {"label": "subtasks", "start_step": 2070, "end_step": 2084, "id": "reasoning-language-00049", "text": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: place_release: Right hand places the white cylindrical block onto the purple rod on the wooden base and releases the block."}, {"label": "subtasks", "start_step": 2085, "end_step": 2107, "id": "reasoning-language-00050", "text": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 2108, "end_step": 2159, "id": "reasoning-language-00051", "text": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table with fingers closing around it."}, {"label": "goal", "start_step": 2133, "end_step": 2272, "id": "98a22b8d-1e98-47b6-9e16-8a4ca5e079fb"}, {"label": "subtasks", "start_step": 2160, "end_step": 2189, "id": "reasoning-language-00052", "text": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it to the position above the purple post on the wooden rack."}, {"label": "subtasks", "start_step": 2190, "end_step": 2241, "id": "reasoning-language-00053", "text": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: mate: Right hand mates the white hexagonal block with the purple post on the rack by aligning and lowering it onto the post."}, {"label": "subtasks", "start_step": 2242, "end_step": 2301, "id": "reasoning-language-00054", "text": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: release: Right hand releases the white hexagonal block on the purple post by opening its fingers."}, {"label": "goal", "start_step": 2273, "end_step": 2338, "id": "72a489b1-5482-4dd4-923c-0d64bd613a8d"}, {"label": "subtasks", "start_step": 2302, "end_step": 2339, "id": "reasoning-language-00055", "text": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: reach: Right hand moves downward toward the green cubic block on the right side of the table, with fingers slightly open."}, {"label": "goal", "start_step": 2339, "end_step": 2600, "id": "46231e2d-242e-485e-b15f-bbccbdcb8e19"}, {"label": "subtasks", "start_step": 2340, "end_step": 2354, "id": "reasoning-language-00056", "text": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: grasp: Right hand grasps the green cubic block on the table, with fingers closing around the block."}, {"label": "subtasks", "start_step": 2355, "end_step": 2391, "id": "reasoning-language-00057", "text": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: lift_transport: Right hand lifts the green cubic block off the table and transports it upward and leftward toward the front-right white bottle on the wooden tray."}, {"label": "subtasks", "start_step": 2392, "end_step": 2444, "id": "reasoning-language-00058", "text": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: mate: Right hand aligns the green cubic block with the front-right white bottle and fits it onto the bottle to complete the assembly."}, {"label": "subtasks", "start_step": 2445, "end_step": 2564, "id": "reasoning-language-00059", "text": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: press: Right hand presses down on the green cubic block on the front-right bottle, applying downward force to push the bottle down until it is level with adjacent bottles."}, {"label": "subtasks", "start_step": 2565, "end_step": 2609, "id": "reasoning-language-00060", "text": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: release: Right hand releases the green cubic block on the front-right bottle, with fingers opening and moving away from the block."}, {"label": "home", "start_step": 2637, "end_step": 2669, "id": "j0NPT93LG3Nxy_RBOHlw5"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 104, "id": "reasoning-language-00001", "text": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: reach: Right hand moves leftward and downward from the right side of the workbench toward the green hexagonal block on the left lower part of the table."}, {"label": "subtasks", "start_step": 105, "end_step": 277, "id": "reasoning-language-00002", "text": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: grasp: Right hand grasps the green hexagonal block on the left lower part of the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 278, "end_step": 291, "id": "reasoning-language-00003", "text": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: lift: Right hand lifts the green hexagonal block upward away from the table surface."}, {"label": "subtasks", "start_step": 292, "end_step": 321, "id": "reasoning-language-00004", "text": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: transport: Right hand transports the green hexagonal block to the position above the leftmost purple peg of the wooden rack."}, {"label": "subtasks", "start_step": 322, "end_step": 367, "id": "reasoning-language-00005", "text": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: mate: Right hand mates the green hexagonal block onto the leftmost purple peg of the wooden rack by lowering it and fitting its hole over the peg."}, {"label": "subtasks", "start_step": 368, "end_step": 374, "id": "reasoning-language-00006", "text": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: hold: Right hand holds the green hexagonal block on the leftmost purple peg of the wooden rack without moving."}, {"label": "subtasks", "start_step": 375, "end_step": 404, "id": "reasoning-language-00007", "text": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: mate_release: Right hand mates the white hexagonal ring onto the left green peg of the pegboard and releases its grip."}, {"label": "subtasks", "start_step": 405, "end_step": 427, "id": "reasoning-language-00008", "text": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: reach: Right hand moves down and left toward the white hexagonal ring on the table."}, {"label": "subtasks", "start_step": 428, "end_step": 479, "id": "reasoning-language-00009", "text": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: grasp: Right hand grasps the white hexagonal ring on the table, with fingers adjusting to secure the grip."}, {"label": "subtasks", "start_step": 480, "end_step": 494, "id": "reasoning-language-00010", "text": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: lift_transport: Right hand lifts and transports the white hexagonal block from the table surface to the position above the leftmost purple rod."}, {"label": "subtasks", "start_step": 495, "end_step": 554, "id": "reasoning-language-00011", "text": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: mate: Right hand mates the white hexagonal block with the leftmost purple rod by aligning and inserting it downward along the rod."}, {"label": "subtasks", "start_step": 555, "end_step": 584, "id": "reasoning-language-00012", "text": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: hold: Right hand holds the white hexagonal block fitted on the leftmost purple rod without moving."}, {"label": "subtasks", "start_step": 585, "end_step": 607, "id": "reasoning-language-00013", "text": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: mate_release: Right hand mates the white cylindrical block onto the front-left purple peg and releases its grip on the block."}, {"label": "subtasks", "start_step": 608, "end_step": 637, "id": "reasoning-language-00014", "text": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 638, "end_step": 681, "id": "reasoning-language-00015", "text": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing around it."}, {"label": "subtasks", "start_step": 682, "end_step": 704, "id": "reasoning-language-00016", "text": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table while transporting it toward the peg rack on the right."}, {"label": "subtasks", "start_step": 705, "end_step": 824, "id": "reasoning-language-00017", "text": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: mate: Right hand mates the white hexagonal block with the leftmost peg of the rack, adjusting the block to fit onto the peg completely."}, {"label": "subtasks", "start_step": 825, "end_step": 847, "id": "reasoning-language-00018", "text": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: release: Right hand releases the white hexagonal block on the peg, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 848, "end_step": 854, "id": "reasoning-language-00019", "text": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: retreat: Right hand retreats upward and away from the peg rack after releasing the block."}, {"label": "subtasks", "start_step": 855, "end_step": 891, "id": "reasoning-language-00020", "text": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: reach: Right hand moves downward from the rack toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 892, "end_step": 937, "id": "reasoning-language-00021", "text": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing and adjusting the grip."}, {"label": "subtasks", "start_step": 938, "end_step": 1041, "id": "reasoning-language-00022", "text": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: push: Right hand pushes the white hexagonal block forward on the table surface toward the rack."}, {"label": "subtasks", "start_step": 1042, "end_step": 1064, "id": "reasoning-language-00023", "text": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: release: Right hand releases the white hexagonal block, with fingers opening and separating from the block."}, {"label": "subtasks", "start_step": 1065, "end_step": 1094, "id": "reasoning-language-00024", "text": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: reach: Right hand moves upward toward the white block on the right purple peg of the rack."}, {"label": "subtasks", "start_step": 1095, "end_step": 1139, "id": "reasoning-language-00025", "text": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: grasp_press: Right hand grasps and presses down the white block on the right purple peg of the rack."}, {"label": "subtasks", "start_step": 1140, "end_step": 1169, "id": "reasoning-language-00026", "text": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table near the wooden rack, with fingers closing to adjust the grip while the block stays on the table."}, {"label": "subtasks", "start_step": 1170, "end_step": 1191, "id": "reasoning-language-00027", "text": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it upward and rightward to the position above the purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 1192, "end_step": 1267, "id": "reasoning-language-00028", "text": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: mate: Right hand mates the white hexagonal block with the purple peg on the wooden rack, lowering the block onto the peg until it is supported by the lower block on the peg."}, {"label": "subtasks", "start_step": 1268, "end_step": 1327, "id": "reasoning-language-00029", "text": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple peg of the wooden rack without moving."}, {"label": "subtasks", "start_step": 1328, "end_step": 1349, "id": "reasoning-language-00030", "text": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: release: Right hand releases the white hexagonal block on the purple peg, with fingers opening and moving slightly away from the block."}, {"label": "subtasks", "start_step": 1350, "end_step": 1387, "id": "reasoning-language-00031", "text": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: reach: Right hand reaches downward toward the green hexagonal block on the black table without making contact."}, {"label": "subtasks", "start_step": 1388, "end_step": 1439, "id": "reasoning-language-00032", "text": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1440, "end_step": 1461, "id": "reasoning-language-00033", "text": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: lift_transport: Right hand lifts and transports the green hexagonal block from the table upward to the position above the target peg on the wooden board."}, {"label": "subtasks", "start_step": 1462, "end_step": 1559, "id": "reasoning-language-00034", "text": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: mate: Right hand mates the green hexagonal block with the target peg by aligning and inserting it downward onto the peg until the block is supported by the white block below."}, {"label": "subtasks", "start_step": 1560, "end_step": 1589, "id": "reasoning-language-00035", "text": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: release: Right hand releases the green hexagonal block on the peg, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 1590, "end_step": 1634, "id": "reasoning-language-00036", "text": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1635, "end_step": 1649, "id": "reasoning-language-00037", "text": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface with fingers closing."}, {"label": "subtasks", "start_step": 1650, "end_step": 1664, "id": "reasoning-language-00038", "text": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: lift: Right hand lifts the white hexagonal block upward until it leaves the black table surface."}, {"label": "subtasks", "start_step": 1665, "end_step": 1679, "id": "reasoning-language-00039", "text": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: transport: Right hand transports the white hexagonal block upward to the position above the wooden rack's peg."}, {"label": "subtasks", "start_step": 1680, "end_step": 1747, "id": "reasoning-language-00040", "text": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: mate: Right hand mates the white hexagonal block onto the wooden rack's peg by aligning and lowering it onto the peg."}, {"label": "subtasks", "start_step": 1748, "end_step": 1754, "id": "reasoning-language-00041", "text": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: release: Right hand releases the white hexagonal block on the wooden rack's peg, with fingers opening."}, {"label": "subtasks", "start_step": 1755, "end_step": 1777, "id": "reasoning-language-00042", "text": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: press: Right hand presses the white cylindrical part on the purple rod downward to adjust its position."}, {"label": "subtasks", "start_step": 1778, "end_step": 1814, "id": "reasoning-language-00043", "text": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: reach: Right hand moves downward toward the white hexagonal part on the black table surface."}, {"label": "subtasks", "start_step": 1815, "end_step": 1844, "id": "reasoning-language-00044", "text": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: grasp: Right hand grasps the white hexagonal part on the black table surface with fingers closing."}, {"label": "subtasks", "start_step": 1845, "end_step": 1874, "id": "reasoning-language-00045", "text": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: lift_transport: Right hand lifts the white hexagonal part from the table surface and moves it upward toward the purple rod."}, {"label": "subtasks", "start_step": 1875, "end_step": 2024, "id": "reasoning-language-00046", "text": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: mate: Right hand aligns the white hexagonal part with the purple rod, fits it onto the rod, and presses it down to complete assembly."}, {"label": "subtasks", "start_step": 2025, "end_step": 2054, "id": "reasoning-language-00047", "text": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: release: Right hand releases the white hexagonal part on the purple rod with fingers opening."}, {"label": "subtasks", "start_step": 2055, "end_step": 2069, "id": "reasoning-language-00048", "text": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: idle: Right hand remains empty beside the purple rod without moving."}, {"label": "subtasks", "start_step": 2070, "end_step": 2084, "id": "reasoning-language-00049", "text": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: place_release: Right hand places the white cylindrical block onto the purple rod on the wooden base and releases the block."}, {"label": "subtasks", "start_step": 2085, "end_step": 2107, "id": "reasoning-language-00050", "text": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 2108, "end_step": 2159, "id": "reasoning-language-00051", "text": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table with fingers closing around it."}, {"label": "subtasks", "start_step": 2160, "end_step": 2189, "id": "reasoning-language-00052", "text": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it to the position above the purple post on the wooden rack."}, {"label": "subtasks", "start_step": 2190, "end_step": 2241, "id": "reasoning-language-00053", "text": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: mate: Right hand mates the white hexagonal block with the purple post on the rack by aligning and lowering it onto the post."}, {"label": "subtasks", "start_step": 2242, "end_step": 2301, "id": "reasoning-language-00054", "text": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: release: Right hand releases the white hexagonal block on the purple post by opening its fingers."}, {"label": "subtasks", "start_step": 2302, "end_step": 2339, "id": "reasoning-language-00055", "text": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: reach: Right hand moves downward toward the green cubic block on the right side of the table, with fingers slightly open."}, {"label": "subtasks", "start_step": 2340, "end_step": 2354, "id": "reasoning-language-00056", "text": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: grasp: Right hand grasps the green cubic block on the table, with fingers closing around the block."}, {"label": "subtasks", "start_step": 2355, "end_step": 2391, "id": "reasoning-language-00057", "text": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: lift_transport: Right hand lifts the green cubic block off the table and transports it upward and leftward toward the front-right white bottle on the wooden tray."}, {"label": "subtasks", "start_step": 2392, "end_step": 2444, "id": "reasoning-language-00058", "text": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: mate: Right hand aligns the green cubic block with the front-right white bottle and fits it onto the bottle to complete the assembly."}, {"label": "subtasks", "start_step": 2445, "end_step": 2564, "id": "reasoning-language-00059", "text": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: press: Right hand presses down on the green cubic block on the front-right bottle, applying downward force to push the bottle down until it is level with adjacent bottles."}, {"label": "subtasks", "start_step": 2565, "end_step": 2609, "id": "reasoning-language-00060", "text": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: release: Right hand releases the green cubic block on the front-right bottle, with fingers opening and moving away from the block."}], "episode_index": 9}
+{"source_uid": "d24f1ea07f1559df", "num_frames": 3423, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 44, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves toward the green cube located on the black table in front of the wooden block base."}, {"label": "goal", "start_step": 0, "end_step": 226, "id": "963289ff-51b2-4c90-8556-b1674082ab1a"}, {"label": "valid", "start_step": 0, "end_step": 3391, "id": "61oYmWhyGnrVz-gZY6Wzu"}, {"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 operation area without moving. | Right hand: grasp: Right hand closes its fingers around the green cube to form a stable grasp."}, {"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 operation area without moving. | Right hand: lift: Right hand lifts the green cube upward away from the black table surface."}, {"label": "subtasks", "start_step": 120, "end_step": 187, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: transport: Right hand carries the green cube toward the leftmost purple rod on the wooden base."}, {"label": "subtasks", "start_step": 188, "end_step": 224, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand aligns the green cube with the leftmost purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 225, "end_step": 247, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand adjusts fingers to form a stable grip on the green block placed on the black table."}, {"label": "goal", "start_step": 227, "end_step": 346, "id": "7ba8038f-b96e-4fb0-88fd-1311a9de6547"}, {"label": "subtasks", "start_step": 248, "end_step": 277, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it to the position above the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 278, "end_step": 344, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand aligns the green block with the leftmost purple peg and inserts it down onto the peg to complete assembly."}, {"label": "subtasks", "start_step": 345, "end_step": 374, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the table surface."}, {"label": "goal", "start_step": 347, "end_step": 404, "id": "6781b263-9753-4e08-97dd-8a051f280450"}, {"label": "subtasks", "start_step": 375, "end_step": 419, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block, adjusting grip to stabilize the object."}, {"label": "goal", "start_step": 405, "end_step": 592, "id": "462f5467-c801-41a3-8619-351ea5a2f104"}, {"label": "subtasks", "start_step": 420, "end_step": 434, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift: Right hand lifts the white hexagonal block upward until it completely leaves the table surface."}, {"label": "subtasks", "start_step": 435, "end_step": 494, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: transport: Right hand transports the white hexagonal block upward to the position above the leftmost purple rod on the wooden base."}, {"label": "subtasks", "start_step": 495, "end_step": 547, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: place: Right hand places the white hexagonal block downward onto the leftmost purple rod until the block is supported by the rod."}, {"label": "subtasks", "start_step": 548, "end_step": 584, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: press: Right hand presses the white hexagonal block downward along the purple rod to fix it in place."}, {"label": "subtasks", "start_step": 585, "end_step": 614, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the vertical post of the wooden base."}, {"label": "goal", "start_step": 593, "end_step": 674, "id": "03310ba7-d607-4642-a9ff-0ff994a51c52"}, {"label": "subtasks", "start_step": 615, "end_step": 621, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: release: Right hand releases the white hexagonal block placed on the post."}, {"label": "subtasks", "start_step": 622, "end_step": 659, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand reaches downward towards the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 660, "end_step": 674, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 675, "end_step": 697, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift: Right hand lifts the white hexagonal block from the black table surface."}, {"label": "goal", "start_step": 675, "end_step": 822, "id": "9255d678-751d-4b50-9f59-51e6ebf77f5a"}, {"label": "subtasks", "start_step": 698, "end_step": 711, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: transport: Right hand transports the white hexagonal block towards the wooden rack with purple rods."}, {"label": "subtasks", "start_step": 712, "end_step": 809, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the leftmost purple rod of the wooden rack."}, {"label": "subtasks", "start_step": 810, "end_step": 861, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves downwards to reach the white hexagonal block placed on the table in front of the pegboard."}, {"label": "goal", "start_step": 823, "end_step": 1230, "id": "e311fa6a-5c3b-4052-8f8c-8e19926d88e9"}, {"label": "subtasks", "start_step": 862, "end_step": 884, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 885, "end_step": 1011, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand holds the white hexagonal block and aligns it to the purple post on the pegboard for assembly."}, {"label": "subtasks", "start_step": 1012, "end_step": 1101, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: release: Right hand opens its fingers to release the white hexagonal block on the purple post."}, {"label": "subtasks", "start_step": 1102, "end_step": 1131, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves towards the tilted white hexagonal block on the purple post."}, {"label": "subtasks", "start_step": 1132, "end_step": 1229, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand adjusts the tilted white hexagonal block and fits it properly onto the purple post."}, {"label": "subtasks", "start_step": 1230, "end_step": 1259, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table near the wooden rack."}, {"label": "goal", "start_step": 1231, "end_step": 1374, "id": "6508e33b-3790-4009-9910-f36c16f204f2"}, {"label": "subtasks", "start_step": 1260, "end_step": 1274, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1275, "end_step": 1364, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 1365, "end_step": 1401, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: release: Right hand releases the white cylindrical block placed on the peg of the wooden base."}, {"label": "goal", "start_step": 1375, "end_step": 1438, "id": "7deb6e4f-8396-4329-bfdd-013f4e0d24b2"}, {"label": "subtasks", "start_step": 1402, "end_step": 1431, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves downward toward the green square block on the black tabletop."}, {"label": "subtasks", "start_step": 1432, "end_step": 1461, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green square block on the black tabletop."}, {"label": "goal", "start_step": 1439, "end_step": 1584, "id": "e268d54d-cf74-4ba2-b084-c7891fed7ae7"}, {"label": "subtasks", "start_step": 1462, "end_step": 1477, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift: Right hand lifts the grasped green square block off the black tabletop."}, {"label": "subtasks", "start_step": 1478, "end_step": 1491, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: transport: Right hand carries the green square block toward the wooden base."}, {"label": "subtasks", "start_step": 1492, "end_step": 1574, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand aligns and fits the green square block onto the target peg of the wooden base."}, {"label": "subtasks", "start_step": 1575, "end_step": 1604, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: place: Right hand places the white cylindrical block onto the peg of the wooden base."}, {"label": "goal", "start_step": 1585, "end_step": 1656, "id": "6bee5ba7-57ba-409f-aa30-7a8d21f0bcf6"}, {"label": "subtasks", "start_step": 1605, "end_step": 1634, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves downwards towards the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1635, "end_step": 1679, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the table surface."}, {"label": "goal", "start_step": 1657, "end_step": 1786, "id": "46fbf3ce-9444-482c-a15e-044a9ca32a0c"}, {"label": "subtasks", "start_step": 1680, "end_step": 1694, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it towards the wooden rack."}, {"label": "subtasks", "start_step": 1695, "end_step": 1754, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the target peg above the green block on the wooden rack."}, {"label": "subtasks", "start_step": 1755, "end_step": 1784, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: release: Right hand releases the white hexagonal block from its grip."}, {"label": "subtasks", "start_step": 1785, "end_step": 1814, "id": "reasoning-language-00043", "text": "Left hand: retreat: Left hand retreats upward from the area near the wooden base with stacked blocks to the left side of the table. | Right hand: reach: Right hand moves downward from the stacked blocks on the wooden base toward the upper white hexagonal block on the table surface."}, {"label": "goal", "start_step": 1787, "end_step": 1890, "id": "2e55e908-3c6b-4689-b59b-2940a87e6780"}, {"label": "subtasks", "start_step": 1815, "end_step": 1829, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty in the air at the left side without any observable movement. | Right hand: reach: Right hand moves downward from the stacked blocks on the wooden base toward the upper white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1830, "end_step": 1911, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty in the air at the left side without any observable movement. | Right hand: grasp: Right hand adjusts its fingers to form a stable grip on the upper white hexagonal block on the table surface."}, {"label": "goal", "start_step": 1891, "end_step": 2274, "id": "b16fcada-c410-4f10-8fd1-428f3391e1ab"}, {"label": "subtasks", "start_step": 1912, "end_step": 1934, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty in the air at the left side without any observable movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1935, "end_step": 2009, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty in the air at the left side without any observable movement. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 2010, "end_step": 2031, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty in the air at the left side without any observable movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the rod adjacent to the purple rod."}, {"label": "subtasks", "start_step": 2032, "end_step": 2077, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty in the air at the left side without any observable movement. | Right hand: transport: Right hand transports the grasped white hexagonal block to above the target rod on the wooden base."}, {"label": "subtasks", "start_step": 2078, "end_step": 2264, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty in the air at the left side without any observable movement. | Right hand: mate: Right hand aligns the white hexagonal block with the target rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 2265, "end_step": 2294, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty in the air at the left side without any observable movement. | Right hand: place: Right hand places the white hexagonal block onto the top of the purple post fixed on the wooden base."}, {"label": "goal", "start_step": 2275, "end_step": 2360, "id": "054081bd-5962-425b-936b-bbb57320421b"}, {"label": "subtasks", "start_step": 2295, "end_step": 2331, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty in the air at the left side without any observable movement. | Right hand: reach: Right hand moves downward and toward the lower right area of the frame, approaching the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 2332, "end_step": 2354, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty in the air at the left side without any observable movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, with fingers closing to wrap around the block."}, {"label": "subtasks", "start_step": 2355, "end_step": 2384, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty in the air at the left side without any observable movement. | Right hand: lift: Right hand lifts the white ring from the table surface."}, {"label": "goal", "start_step": 2361, "end_step": 2824, "id": "7b7c9179-1c60-4faf-8217-90e7a5fc82b1"}, {"label": "subtasks", "start_step": 2385, "end_step": 2414, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty in the air at the left side without any observable movement. | Right hand: transport: Right hand transports the white ring above the target pillar on the wooden rack."}, {"label": "subtasks", "start_step": 2415, "end_step": 2811, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty in the air at the left side without any observable movement. | Right hand: mate: Right hand mates the white ring onto the target pillar and adjusts its position to fit properly."}, {"label": "subtasks", "start_step": 2812, "end_step": 2819, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty in the air at the left side without any observable movement. | Right hand: release: Right hand releases the white ring placed on the pillar."}, {"label": "subtasks", "start_step": 2820, "end_step": 2879, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty in the air at the left side without any observable movement. | Right hand: reach: Right hand moves towards the green block on the lower right part of the desktop."}, {"label": "goal", "start_step": 2825, "end_step": 3192, "id": "88f4f045-3c81-484e-8574-12e7c137e0d6"}, {"label": "subtasks", "start_step": 2880, "end_step": 3059, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty in the air at the left side without any observable movement. | Right hand: reorient: Right hand adjusts the orientation and position of the green block on the desktop."}, {"label": "subtasks", "start_step": 3060, "end_step": 3074, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty in the air at the left side without any observable movement. | Right hand: retreat: Right hand moves slightly away from the green block."}, {"label": "subtasks", "start_step": 3075, "end_step": 3179, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty in the air at the left side without any observable movement. | Right hand: reorient: Right hand adjusts the position and orientation of the green block on the desktop."}, {"label": "subtasks", "start_step": 3180, "end_step": 3209, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty in the air at the left side without any observable movement. | Right hand: hold: Right hand holds the green block on the right side of the table without moving."}, {"label": "goal", "start_step": 3193, "end_step": 3348, "id": "772b8c0c-9a6b-4a8a-8ac6-531c5e762355"}, {"label": "subtasks", "start_step": 3210, "end_step": 3224, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty in the air at the left side without any observable movement. | Right hand: lift: Right hand lifts the green block up away from the table surface."}, {"label": "subtasks", "start_step": 3225, "end_step": 3247, "id": "reasoning-language-00064", "text": "Left hand: idle: Left hand remains empty in the air at the left side without any observable movement. | Right hand: transport: Right hand transports the green block towards the top of the test tube rack."}, {"label": "subtasks", "start_step": 3248, "end_step": 3329, "id": "reasoning-language-00065", "text": "Left hand: idle: Left hand remains empty in the air at the left side without any observable movement. | Right hand: mate: Right hand mates the green block onto the rightmost white bottle on the test tube rack."}, {"label": "subtasks", "start_step": 3330, "end_step": 3359, "id": "reasoning-language-00066", "text": "Left hand: idle: Left hand remains empty in the air at the left side without any observable movement. | Right hand: release_retreat: Right hand releases the green block on the rightmost white bottle, then retreats slightly away from the test tube rack."}, {"label": "home", "start_step": 3392, "end_step": 3422, "id": "mxawoB5fkhV4f-FIOHrdR"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 44, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves toward the green cube located on the black table in front of the wooden block base."}, {"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 operation area without moving. | Right hand: grasp: Right hand closes its fingers around the green cube to form a stable grasp."}, {"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 operation area without moving. | Right hand: lift: Right hand lifts the green cube upward away from the black table surface."}, {"label": "subtasks", "start_step": 120, "end_step": 187, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: transport: Right hand carries the green cube toward the leftmost purple rod on the wooden base."}, {"label": "subtasks", "start_step": 188, "end_step": 224, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand aligns the green cube with the leftmost purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 225, "end_step": 247, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand adjusts fingers to form a stable grip on the green block placed on the black table."}, {"label": "subtasks", "start_step": 248, "end_step": 277, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it to the position above the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 278, "end_step": 344, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand aligns the green block with the leftmost purple peg and inserts it down onto the peg to complete assembly."}, {"label": "subtasks", "start_step": 345, "end_step": 374, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 375, "end_step": 419, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block, adjusting grip to stabilize the object."}, {"label": "subtasks", "start_step": 420, "end_step": 434, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift: Right hand lifts the white hexagonal block upward until it completely leaves the table surface."}, {"label": "subtasks", "start_step": 435, "end_step": 494, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: transport: Right hand transports the white hexagonal block upward to the position above the leftmost purple rod on the wooden base."}, {"label": "subtasks", "start_step": 495, "end_step": 547, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: place: Right hand places the white hexagonal block downward onto the leftmost purple rod until the block is supported by the rod."}, {"label": "subtasks", "start_step": 548, "end_step": 584, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: press: Right hand presses the white hexagonal block downward along the purple rod to fix it in place."}, {"label": "subtasks", "start_step": 585, "end_step": 614, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the vertical post of the wooden base."}, {"label": "subtasks", "start_step": 615, "end_step": 621, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: release: Right hand releases the white hexagonal block placed on the post."}, {"label": "subtasks", "start_step": 622, "end_step": 659, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand reaches downward towards the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 660, "end_step": 674, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 675, "end_step": 697, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift: Right hand lifts the white hexagonal block from the black table surface."}, {"label": "subtasks", "start_step": 698, "end_step": 711, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: transport: Right hand transports the white hexagonal block towards the wooden rack with purple rods."}, {"label": "subtasks", "start_step": 712, "end_step": 809, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the leftmost purple rod of the wooden rack."}, {"label": "subtasks", "start_step": 810, "end_step": 861, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves downwards to reach the white hexagonal block placed on the table in front of the pegboard."}, {"label": "subtasks", "start_step": 862, "end_step": 884, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 885, "end_step": 1011, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand holds the white hexagonal block and aligns it to the purple post on the pegboard for assembly."}, {"label": "subtasks", "start_step": 1012, "end_step": 1101, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: release: Right hand opens its fingers to release the white hexagonal block on the purple post."}, {"label": "subtasks", "start_step": 1102, "end_step": 1131, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves towards the tilted white hexagonal block on the purple post."}, {"label": "subtasks", "start_step": 1132, "end_step": 1229, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand adjusts the tilted white hexagonal block and fits it properly onto the purple post."}, {"label": "subtasks", "start_step": 1230, "end_step": 1259, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table near the wooden rack."}, {"label": "subtasks", "start_step": 1260, "end_step": 1274, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1275, "end_step": 1364, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 1365, "end_step": 1401, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: release: Right hand releases the white cylindrical block placed on the peg of the wooden base."}, {"label": "subtasks", "start_step": 1402, "end_step": 1431, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves downward toward the green square block on the black tabletop."}, {"label": "subtasks", "start_step": 1432, "end_step": 1461, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green square block on the black tabletop."}, {"label": "subtasks", "start_step": 1462, "end_step": 1477, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift: Right hand lifts the grasped green square block off the black tabletop."}, {"label": "subtasks", "start_step": 1478, "end_step": 1491, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: transport: Right hand carries the green square block toward the wooden base."}, {"label": "subtasks", "start_step": 1492, "end_step": 1574, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand aligns and fits the green square block onto the target peg of the wooden base."}, {"label": "subtasks", "start_step": 1575, "end_step": 1604, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: place: Right hand places the white cylindrical block onto the peg of the wooden base."}, {"label": "subtasks", "start_step": 1605, "end_step": 1634, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves downwards towards the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1635, "end_step": 1679, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1680, "end_step": 1694, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it towards the wooden rack."}, {"label": "subtasks", "start_step": 1695, "end_step": 1754, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the target peg above the green block on the wooden rack."}, {"label": "subtasks", "start_step": 1755, "end_step": 1784, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: release: Right hand releases the white hexagonal block from its grip."}, {"label": "subtasks", "start_step": 1785, "end_step": 1814, "id": "reasoning-language-00043", "text": "Left hand: retreat: Left hand retreats upward from the area near the wooden base with stacked blocks to the left side of the table. | Right hand: reach: Right hand moves downward from the stacked blocks on the wooden base toward the upper white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1815, "end_step": 1829, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty in the air at the left side without any observable movement. | Right hand: reach: Right hand moves downward from the stacked blocks on the wooden base toward the upper white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1830, "end_step": 1911, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty in the air at the left side without any observable movement. | Right hand: grasp: Right hand adjusts its fingers to form a stable grip on the upper white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1912, "end_step": 1934, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty in the air at the left side without any observable movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1935, "end_step": 2009, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty in the air at the left side without any observable movement. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 2010, "end_step": 2031, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty in the air at the left side without any observable movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the rod adjacent to the purple rod."}, {"label": "subtasks", "start_step": 2032, "end_step": 2077, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty in the air at the left side without any observable movement. | Right hand: transport: Right hand transports the grasped white hexagonal block to above the target rod on the wooden base."}, {"label": "subtasks", "start_step": 2078, "end_step": 2264, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty in the air at the left side without any observable movement. | Right hand: mate: Right hand aligns the white hexagonal block with the target rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 2265, "end_step": 2294, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty in the air at the left side without any observable movement. | Right hand: place: Right hand places the white hexagonal block onto the top of the purple post fixed on the wooden base."}, {"label": "subtasks", "start_step": 2295, "end_step": 2331, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty in the air at the left side without any observable movement. | Right hand: reach: Right hand moves downward and toward the lower right area of the frame, approaching the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 2332, "end_step": 2354, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty in the air at the left side without any observable movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, with fingers closing to wrap around the block."}, {"label": "subtasks", "start_step": 2355, "end_step": 2384, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty in the air at the left side without any observable movement. | Right hand: lift: Right hand lifts the white ring from the table surface."}, {"label": "subtasks", "start_step": 2385, "end_step": 2414, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty in the air at the left side without any observable movement. | Right hand: transport: Right hand transports the white ring above the target pillar on the wooden rack."}, {"label": "subtasks", "start_step": 2415, "end_step": 2811, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty in the air at the left side without any observable movement. | Right hand: mate: Right hand mates the white ring onto the target pillar and adjusts its position to fit properly."}, {"label": "subtasks", "start_step": 2812, "end_step": 2819, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty in the air at the left side without any observable movement. | Right hand: release: Right hand releases the white ring placed on the pillar."}, {"label": "subtasks", "start_step": 2820, "end_step": 2879, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty in the air at the left side without any observable movement. | Right hand: reach: Right hand moves towards the green block on the lower right part of the desktop."}, {"label": "subtasks", "start_step": 2880, "end_step": 3059, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty in the air at the left side without any observable movement. | Right hand: reorient: Right hand adjusts the orientation and position of the green block on the desktop."}, {"label": "subtasks", "start_step": 3060, "end_step": 3074, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty in the air at the left side without any observable movement. | Right hand: retreat: Right hand moves slightly away from the green block."}, {"label": "subtasks", "start_step": 3075, "end_step": 3179, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty in the air at the left side without any observable movement. | Right hand: reorient: Right hand adjusts the position and orientation of the green block on the desktop."}, {"label": "subtasks", "start_step": 3180, "end_step": 3209, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty in the air at the left side without any observable movement. | Right hand: hold: Right hand holds the green block on the right side of the table without moving."}, {"label": "subtasks", "start_step": 3210, "end_step": 3224, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty in the air at the left side without any observable movement. | Right hand: lift: Right hand lifts the green block up away from the table surface."}, {"label": "subtasks", "start_step": 3225, "end_step": 3247, "id": "reasoning-language-00064", "text": "Left hand: idle: Left hand remains empty in the air at the left side without any observable movement. | Right hand: transport: Right hand transports the green block towards the top of the test tube rack."}, {"label": "subtasks", "start_step": 3248, "end_step": 3329, "id": "reasoning-language-00065", "text": "Left hand: idle: Left hand remains empty in the air at the left side without any observable movement. | Right hand: mate: Right hand mates the green block onto the rightmost white bottle on the test tube rack."}, {"label": "subtasks", "start_step": 3330, "end_step": 3359, "id": "reasoning-language-00066", "text": "Left hand: idle: Left hand remains empty in the air at the left side without any observable movement. | Right hand: release_retreat: Right hand releases the green block on the rightmost white bottle, then retreats slightly away from the test tube rack."}], "episode_index": 10}
+{"source_uid": "73be2f9f97bfbf72", "num_frames": 2562, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 37, "id": "reasoning-language-00001", "text": "Left hand: return_home: Left hand moves from its initial raised position to the left home position, adjusting its finger posture during movement. | Right hand: reach: Right hand moves from its initial right-side position down toward the green hexagonal block placed on the table in front of the wooden peg set, with fingers slightly open."}, {"label": "goal", "start_step": 0, "end_step": 144, "id": "325192fa-b7fc-448c-9aec-e798595a4139"}, {"label": "valid", "start_step": 0, "end_step": 2530, "id": "iO3-WvUR2BU37fJn61BvY"}, {"label": "subtasks", "start_step": 38, "end_step": 74, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: reach: Right hand moves from its initial right-side position down toward the green hexagonal block placed on the table in front of the wooden peg set, with fingers slightly open."}, {"label": "subtasks", "start_step": 75, "end_step": 164, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand contacts the target green hexagonal block on the table, closes fingers and adjusts hand posture to establish a grasp on the block."}, {"label": "goal", "start_step": 145, "end_step": 292, "id": "04d6c14b-9493-4eb1-aeb8-beea513ee7cb"}, {"label": "subtasks", "start_step": 165, "end_step": 179, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block off the table surface and moves it to the position above the purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 180, "end_step": 284, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: mate: Right hand aligns the green hexagonal block with the purple peg on the wooden rack and lowers the block to fit it onto the peg."}, {"label": "subtasks", "start_step": 285, "end_step": 321, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand adjusts finger positions to close around and form a stable grasp on the white hexagonal block mounted on the wooden peg board."}, {"label": "goal", "start_step": 293, "end_step": 436, "id": "90612bfb-ce39-493a-a0e5-989f772003c8"}, {"label": "subtasks", "start_step": 322, "end_step": 337, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward, fully separating it from the supporting peg on the wooden board."}, {"label": "subtasks", "start_step": 338, "end_step": 359, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: transport: Right hand carries the grasped white hexagonal block downward toward the empty black table surface in front of the peg board."}, {"label": "subtasks", "start_step": 360, "end_step": 389, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: place: Right hand lowers the white hexagonal block onto the black table surface, adjusting its position until it stands stably supported by the table."}, {"label": "subtasks", "start_step": 390, "end_step": 434, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: hold: Right hand holds the stably placed white hexagonal block on the table surface without observable movement of the hand or block."}, {"label": "subtasks", "start_step": 435, "end_step": 457, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand adjusts finger positions to form a stable grasp on the white hexagonal nut resting on the black table surface."}, {"label": "goal", "start_step": 437, "end_step": 578, "id": "0491dea6-5267-40db-8981-4d397c01ddd5"}, {"label": "subtasks", "start_step": 458, "end_step": 479, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and transports it upward to the position above the purple rod mounted on the green base."}, {"label": "subtasks", "start_step": 480, "end_step": 569, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple rod and moves it downward to fit onto the rod, with slight finger adjustments to maintain alignment during insertion."}, {"label": "subtasks", "start_step": 570, "end_step": 599, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: place_release: Right hand lowers the white-topped cylindrical block onto the front purple rod of the wooden assembly base until the block rests stably on the base, opening fingers to release contact with the block."}, {"label": "goal", "start_step": 579, "end_step": 666, "id": "f2457398-66ea-407d-8f06-f21612d5b46d"}, {"label": "subtasks", "start_step": 600, "end_step": 621, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: reach: Right hand moves empty downward across the table surface toward the green hexagonal block, approaching the target without making contact."}, {"label": "subtasks", "start_step": 622, "end_step": 659, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand contacts the green hexagonal block on the table surface, closing and adjusting finger positions to establish a grip on the block."}, {"label": "subtasks", "start_step": 660, "end_step": 689, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: hold: Right hand holds the white hexagonal nut resting on the black table surface without any visible movement."}, {"label": "goal", "start_step": 667, "end_step": 832, "id": "32fcfab8-e786-40ba-98cd-92c14f0a8a1a"}, {"label": "subtasks", "start_step": 690, "end_step": 704, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: lift: Right hand moves upward to lift the grasped white hexagonal nut, fully separating it from the black table surface."}, {"label": "subtasks", "start_step": 705, "end_step": 719, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: transport: Right hand carries the lifted white hexagonal nut through the air, moving it upward and toward the wooden block assembly to position it above the target purple peg."}, {"label": "subtasks", "start_step": 720, "end_step": 824, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: mate_release: Right hand aligns the white hexagonal nut with the target purple wooden peg, slides it downward to seat it on the lower block, and opens fingers to release grasp on the nut."}, {"label": "subtasks", "start_step": 825, "end_step": 861, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: reach: Right hand moves downward from above the wooden assembly rack toward the white hexagonal block resting on the table in front of the rack, with fingers held in an open position."}, {"label": "goal", "start_step": 833, "end_step": 886, "id": "65c397c5-21e5-48d7-8a2b-e1d671e21df6"}, {"label": "subtasks", "start_step": 862, "end_step": 907, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand closes its fingers around the target white hexagonal block on the table, making small adjustments to finger contact points to form a stable grip while the block remains supported by the table surface."}, {"label": "goal", "start_step": 887, "end_step": 1008, "id": "c5759765-f750-480e-ae33-14b46f1124f9"}, {"label": "subtasks", "start_step": 908, "end_step": 921, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward, fully separating the block from the table surface."}, {"label": "subtasks", "start_step": 922, "end_step": 937, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: transport: Right hand carries the lifted white hexagonal block upward and horizontally toward the purple vertical peg on the wooden assembly rack."}, {"label": "subtasks", "start_step": 938, "end_step": 997, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: mate: Right hand positions the white hexagonal block directly above the purple peg, making fine adjustments to align the block's central hole with the peg."}, {"label": "subtasks", "start_step": 998, "end_step": 1004, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: place: Right hand lowers the white hexagonal block down along the purple peg until the block rests securely on the wooden assembly rack surface."}, {"label": "subtasks", "start_step": 1005, "end_step": 1027, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: release: Right hand releases the white hexagonal block placed on the purple peg, with fingers opening to separate from the block."}, {"label": "goal", "start_step": 1009, "end_step": 1086, "id": "f2af61f1-0fba-499f-94a5-f2bf44d6e51e"}, {"label": "subtasks", "start_step": 1028, "end_step": 1049, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the table surface, approaching the target without making contact."}, {"label": "subtasks", "start_step": 1050, "end_step": 1109, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand contacts the green hexagonal block on the table, with fingers closing and making slight adjustments to form a stable grip on the block."}, {"label": "goal", "start_step": 1087, "end_step": 1448, "id": "14b9508d-c760-4a30-96c6-35c88b3a3f00"}, {"label": "subtasks", "start_step": 1110, "end_step": 1124, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: lift_transport: Right hand lifts the stably grasped green hexagonal block off the table surface and transports it upward to a position directly above the purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 1125, "end_step": 1439, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: mate: Right hand makes small continuous positional and rotational adjustments to the grasped green hexagonal block, aligning its central aperture with the purple vertical peg to seat the block onto the peg."}, {"label": "subtasks", "start_step": 1440, "end_step": 1469, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: release: Right hand opens fingers to release the white cylindrical block on the wooden stacking base."}, {"label": "goal", "start_step": 1449, "end_step": 1628, "id": "3065acd4-747e-4b56-86e6-70a6e96118cc"}, {"label": "subtasks", "start_step": 1470, "end_step": 1499, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: reach: Right hand moves downward with an empty hand toward the white hexagonal block placed on the dark table surface."}, {"label": "subtasks", "start_step": 1500, "end_step": 1717, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand adjusts finger positions and closes fingers around the white hexagonal block on the table to establish a stable grasp."}, {"label": "goal", "start_step": 1629, "end_step": 1838, "id": "8841e351-dd60-4f55-a87e-e5a1c45ad4ac"}, {"label": "subtasks", "start_step": 1718, "end_step": 1761, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the dark table surface, transporting it upward and leftward to the position above the target rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 1762, "end_step": 1829, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: mate: Right hand aligns the central hole of the held white hexagonal nut with the target vertical rod on the wooden assembly base, lowering the nut to fit it onto the rod as part of the assembly process."}, {"label": "subtasks", "start_step": 1830, "end_step": 1851, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: release: Right hand opens fingers to release the green hexagonal block on the wooden base, lifting fingers away from the block surface."}, {"label": "goal", "start_step": 1839, "end_step": 1912, "id": "9b435bc3-8335-4376-9b02-27d185eb118f"}, {"label": "subtasks", "start_step": 1852, "end_step": 1874, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: reach: Right hand moves downward and rightward from above the wooden block base towards the white hexagonal nut on the table to the right of the base, with fingers slightly extended."}, {"label": "subtasks", "start_step": 1875, "end_step": 1927, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table to the right of the wooden base, making slight finger adjustments to establish grip on the nut."}, {"label": "goal", "start_step": 1913, "end_step": 2070, "id": "51066d2b-9b21-4406-9e2e-f20321c8435d"}, {"label": "subtasks", "start_step": 1928, "end_step": 1941, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward off the dark table surface."}, {"label": "subtasks", "start_step": 1942, "end_step": 1964, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: transport: Right hand moves the lifted white hexagonal block upward and horizontally to position it directly above the purple vertical rod on the wooden assembly."}, {"label": "subtasks", "start_step": 1965, "end_step": 2047, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: mate: Right hand makes small positional and rotational adjustments to the white hexagonal block to align its central hole with the purple vertical rod, fitting the block onto the rod."}, {"label": "subtasks", "start_step": 2048, "end_step": 2069, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: place: Right hand lowers the white hexagonal block down along the purple vertical rod until the block rests stably on the surface of the wooden base."}, {"label": "subtasks", "start_step": 2070, "end_step": 2114, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: reach: Right hand moves downward and rightward from the area near the wooden block rack toward the white hexagonal nut on the dark table surface, with fingers slightly open."}, {"label": "goal", "start_step": 2071, "end_step": 2146, "id": "ead5bbcd-db9b-41ce-b592-717a38980ffc"}, {"label": "subtasks", "start_step": 2115, "end_step": 2144, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand makes contact with the white hexagonal nut on the table, fingers gradually close and adjust positions to form a grasp, with the nut remaining on the table surface."}, {"label": "subtasks", "start_step": 2145, "end_step": 2167, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: hold: Right hand holds the white hexagonal block stationary on the dark table surface."}, {"label": "goal", "start_step": 2147, "end_step": 2272, "id": "e7738ecd-896d-4aa2-9b6a-9ab164e3de0c"}, {"label": "subtasks", "start_step": 2168, "end_step": 2197, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and moves it upward to the position directly above the purple rod on the wooden block base."}, {"label": "subtasks", "start_step": 2198, "end_step": 2257, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and moves it downward to fit the block onto the rod."}, {"label": "subtasks", "start_step": 2258, "end_step": 2264, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: release: Right hand opens its fingers to release the white hexagonal block fitted on the purple rod."}, {"label": "subtasks", "start_step": 2265, "end_step": 2294, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: press: Right hand presses the purple top of the front white bottle on the wooden stand downward."}, {"label": "goal", "start_step": 2273, "end_step": 2354, "id": "42ef6a42-5225-459b-90fc-d202388be5af"}, {"label": "subtasks", "start_step": 2295, "end_step": 2324, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: reach: Right hand moves empty downward toward the green block placed on the lower right table surface."}, {"label": "subtasks", "start_step": 2325, "end_step": 2354, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand closes fingers around the green block on the lower right table surface to establish a grip."}, {"label": "subtasks", "start_step": 2355, "end_step": 2369, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand adjusts its grasp on the green block resting on the table, with fingers slightly tightening to stabilize contact with the block."}, {"label": "goal", "start_step": 2355, "end_step": 2500, "id": "01bc9232-8a19-45e5-a036-dbf99026de91"}, {"label": "subtasks", "start_step": 2370, "end_step": 2391, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: lift_transport: Right hand lifts the green block completely off the table surface, then moves it upward and leftward to the position above the wooden bottle rack."}, {"label": "subtasks", "start_step": 2392, "end_step": 2459, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: mate: Right hand adjusts the position of the green block to align its central hole with the purple post on the bottle rack below."}, {"label": "subtasks", "start_step": 2460, "end_step": 2481, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: place: Right hand lowers the aligned green block down along the purple post until the block rests stably on the white bottle cap below."}, {"label": "subtasks", "start_step": 2482, "end_step": 2504, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: release: Right hand opens its fingers to release the green block, separating the fingers from the block surface."}, {"label": "home", "start_step": 2531, "end_step": 2561, "id": "gLqxcZfqvtaZokR2R5t4-"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 37, "id": "reasoning-language-00001", "text": "Left hand: return_home: Left hand moves from its initial raised position to the left home position, adjusting its finger posture during movement. | Right hand: reach: Right hand moves from its initial right-side position down toward the green hexagonal block placed on the table in front of the wooden peg set, with fingers slightly open."}, {"label": "subtasks", "start_step": 38, "end_step": 74, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: reach: Right hand moves from its initial right-side position down toward the green hexagonal block placed on the table in front of the wooden peg set, with fingers slightly open."}, {"label": "subtasks", "start_step": 75, "end_step": 164, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand contacts the target green hexagonal block on the table, closes fingers and adjusts hand posture to establish a grasp on the block."}, {"label": "subtasks", "start_step": 165, "end_step": 179, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block off the table surface and moves it to the position above the purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 180, "end_step": 284, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: mate: Right hand aligns the green hexagonal block with the purple peg on the wooden rack and lowers the block to fit it onto the peg."}, {"label": "subtasks", "start_step": 285, "end_step": 321, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand adjusts finger positions to close around and form a stable grasp on the white hexagonal block mounted on the wooden peg board."}, {"label": "subtasks", "start_step": 322, "end_step": 337, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward, fully separating it from the supporting peg on the wooden board."}, {"label": "subtasks", "start_step": 338, "end_step": 359, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: transport: Right hand carries the grasped white hexagonal block downward toward the empty black table surface in front of the peg board."}, {"label": "subtasks", "start_step": 360, "end_step": 389, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: place: Right hand lowers the white hexagonal block onto the black table surface, adjusting its position until it stands stably supported by the table."}, {"label": "subtasks", "start_step": 390, "end_step": 434, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: hold: Right hand holds the stably placed white hexagonal block on the table surface without observable movement of the hand or block."}, {"label": "subtasks", "start_step": 435, "end_step": 457, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand adjusts finger positions to form a stable grasp on the white hexagonal nut resting on the black table surface."}, {"label": "subtasks", "start_step": 458, "end_step": 479, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and transports it upward to the position above the purple rod mounted on the green base."}, {"label": "subtasks", "start_step": 480, "end_step": 569, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple rod and moves it downward to fit onto the rod, with slight finger adjustments to maintain alignment during insertion."}, {"label": "subtasks", "start_step": 570, "end_step": 599, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: place_release: Right hand lowers the white-topped cylindrical block onto the front purple rod of the wooden assembly base until the block rests stably on the base, opening fingers to release contact with the block."}, {"label": "subtasks", "start_step": 600, "end_step": 621, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: reach: Right hand moves empty downward across the table surface toward the green hexagonal block, approaching the target without making contact."}, {"label": "subtasks", "start_step": 622, "end_step": 659, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand contacts the green hexagonal block on the table surface, closing and adjusting finger positions to establish a grip on the block."}, {"label": "subtasks", "start_step": 660, "end_step": 689, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: hold: Right hand holds the white hexagonal nut resting on the black table surface without any visible movement."}, {"label": "subtasks", "start_step": 690, "end_step": 704, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: lift: Right hand moves upward to lift the grasped white hexagonal nut, fully separating it from the black table surface."}, {"label": "subtasks", "start_step": 705, "end_step": 719, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: transport: Right hand carries the lifted white hexagonal nut through the air, moving it upward and toward the wooden block assembly to position it above the target purple peg."}, {"label": "subtasks", "start_step": 720, "end_step": 824, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: mate_release: Right hand aligns the white hexagonal nut with the target purple wooden peg, slides it downward to seat it on the lower block, and opens fingers to release grasp on the nut."}, {"label": "subtasks", "start_step": 825, "end_step": 861, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: reach: Right hand moves downward from above the wooden assembly rack toward the white hexagonal block resting on the table in front of the rack, with fingers held in an open position."}, {"label": "subtasks", "start_step": 862, "end_step": 907, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand closes its fingers around the target white hexagonal block on the table, making small adjustments to finger contact points to form a stable grip while the block remains supported by the table surface."}, {"label": "subtasks", "start_step": 908, "end_step": 921, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward, fully separating the block from the table surface."}, {"label": "subtasks", "start_step": 922, "end_step": 937, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: transport: Right hand carries the lifted white hexagonal block upward and horizontally toward the purple vertical peg on the wooden assembly rack."}, {"label": "subtasks", "start_step": 938, "end_step": 997, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: mate: Right hand positions the white hexagonal block directly above the purple peg, making fine adjustments to align the block's central hole with the peg."}, {"label": "subtasks", "start_step": 998, "end_step": 1004, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: place: Right hand lowers the white hexagonal block down along the purple peg until the block rests securely on the wooden assembly rack surface."}, {"label": "subtasks", "start_step": 1005, "end_step": 1027, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: release: Right hand releases the white hexagonal block placed on the purple peg, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 1028, "end_step": 1049, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the table surface, approaching the target without making contact."}, {"label": "subtasks", "start_step": 1050, "end_step": 1109, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand contacts the green hexagonal block on the table, with fingers closing and making slight adjustments to form a stable grip on the block."}, {"label": "subtasks", "start_step": 1110, "end_step": 1124, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: lift_transport: Right hand lifts the stably grasped green hexagonal block off the table surface and transports it upward to a position directly above the purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 1125, "end_step": 1439, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: mate: Right hand makes small continuous positional and rotational adjustments to the grasped green hexagonal block, aligning its central aperture with the purple vertical peg to seat the block onto the peg."}, {"label": "subtasks", "start_step": 1440, "end_step": 1469, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: release: Right hand opens fingers to release the white cylindrical block on the wooden stacking base."}, {"label": "subtasks", "start_step": 1470, "end_step": 1499, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: reach: Right hand moves downward with an empty hand toward the white hexagonal block placed on the dark table surface."}, {"label": "subtasks", "start_step": 1500, "end_step": 1717, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand adjusts finger positions and closes fingers around the white hexagonal block on the table to establish a stable grasp."}, {"label": "subtasks", "start_step": 1718, "end_step": 1761, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the dark table surface, transporting it upward and leftward to the position above the target rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 1762, "end_step": 1829, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: mate: Right hand aligns the central hole of the held white hexagonal nut with the target vertical rod on the wooden assembly base, lowering the nut to fit it onto the rod as part of the assembly process."}, {"label": "subtasks", "start_step": 1830, "end_step": 1851, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: release: Right hand opens fingers to release the green hexagonal block on the wooden base, lifting fingers away from the block surface."}, {"label": "subtasks", "start_step": 1852, "end_step": 1874, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: reach: Right hand moves downward and rightward from above the wooden block base towards the white hexagonal nut on the table to the right of the base, with fingers slightly extended."}, {"label": "subtasks", "start_step": 1875, "end_step": 1927, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table to the right of the wooden base, making slight finger adjustments to establish grip on the nut."}, {"label": "subtasks", "start_step": 1928, "end_step": 1941, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward off the dark table surface."}, {"label": "subtasks", "start_step": 1942, "end_step": 1964, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: transport: Right hand moves the lifted white hexagonal block upward and horizontally to position it directly above the purple vertical rod on the wooden assembly."}, {"label": "subtasks", "start_step": 1965, "end_step": 2047, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: mate: Right hand makes small positional and rotational adjustments to the white hexagonal block to align its central hole with the purple vertical rod, fitting the block onto the rod."}, {"label": "subtasks", "start_step": 2048, "end_step": 2069, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: place: Right hand lowers the white hexagonal block down along the purple vertical rod until the block rests stably on the surface of the wooden base."}, {"label": "subtasks", "start_step": 2070, "end_step": 2114, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: reach: Right hand moves downward and rightward from the area near the wooden block rack toward the white hexagonal nut on the dark table surface, with fingers slightly open."}, {"label": "subtasks", "start_step": 2115, "end_step": 2144, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand makes contact with the white hexagonal nut on the table, fingers gradually close and adjust positions to form a grasp, with the nut remaining on the table surface."}, {"label": "subtasks", "start_step": 2145, "end_step": 2167, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: hold: Right hand holds the white hexagonal block stationary on the dark table surface."}, {"label": "subtasks", "start_step": 2168, "end_step": 2197, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and moves it upward to the position directly above the purple rod on the wooden block base."}, {"label": "subtasks", "start_step": 2198, "end_step": 2257, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and moves it downward to fit the block onto the rod."}, {"label": "subtasks", "start_step": 2258, "end_step": 2264, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: release: Right hand opens its fingers to release the white hexagonal block fitted on the purple rod."}, {"label": "subtasks", "start_step": 2265, "end_step": 2294, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: press: Right hand presses the purple top of the front white bottle on the wooden stand downward."}, {"label": "subtasks", "start_step": 2295, "end_step": 2324, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: reach: Right hand moves empty downward toward the green block placed on the lower right table surface."}, {"label": "subtasks", "start_step": 2325, "end_step": 2354, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand closes fingers around the green block on the lower right table surface to establish a grip."}, {"label": "subtasks", "start_step": 2355, "end_step": 2369, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand adjusts its grasp on the green block resting on the table, with fingers slightly tightening to stabilize contact with the block."}, {"label": "subtasks", "start_step": 2370, "end_step": 2391, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: lift_transport: Right hand lifts the green block completely off the table surface, then moves it upward and leftward to the position above the wooden bottle rack."}, {"label": "subtasks", "start_step": 2392, "end_step": 2459, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: mate: Right hand adjusts the position of the green block to align its central hole with the purple post on the bottle rack below."}, {"label": "subtasks", "start_step": 2460, "end_step": 2481, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: place: Right hand lowers the aligned green block down along the purple post until the block rests stably on the white bottle cap below."}, {"label": "subtasks", "start_step": 2482, "end_step": 2504, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: release: Right hand opens its fingers to release the green block, separating the fingers from the block surface."}], "episode_index": 11}
+{"source_uid": "87397e2d8140663a", "num_frames": 3522, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: other:spread_fingers: Left hand spreads its fingers at the left side of the table, with no obvious position change. | Right hand: reach: Right hand moves leftward and downward toward the green hexagonal part on the table in front of the peg board."}, {"label": "goal", "start_step": 0, "end_step": 192, "id": "c16f5832-6095-4cac-91be-4ca82894ade3"}, {"label": "valid", "start_step": 0, "end_step": 3490, "id": "8SaRnpZOFHUowM9x3UZez"}, {"label": "subtasks", "start_step": 30, "end_step": 81, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves leftward and downward toward the green hexagonal part on the table in front of the peg board."}, {"label": "subtasks", "start_step": 82, "end_step": 127, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand grasps the green hexagonal part on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 128, "end_step": 179, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: hold: Right hand holds the green hexagonal part on the table without moving."}, {"label": "subtasks", "start_step": 180, "end_step": 209, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand grasps the green hexagonal piece on the black table, adjusting its grip with fingers."}, {"label": "goal", "start_step": 193, "end_step": 386, "id": "a52609fe-5ced-43f0-8ceb-c4f06eaff461"}, {"label": "subtasks", "start_step": 210, "end_step": 239, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the green hexagonal piece from the black table and transports it upward to the position above the leftmost peg on the wooden base."}, {"label": "subtasks", "start_step": 240, "end_step": 359, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand mates the green hexagonal piece onto the leftmost peg of the wooden base, aligning and inserting it into position."}, {"label": "subtasks", "start_step": 360, "end_step": 374, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: hold: Right hand holds the green hexagonal piece fitted on the leftmost peg of the wooden base without moving."}, {"label": "subtasks", "start_step": 375, "end_step": 411, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate_release: Right hand mates the white hexagonal piece onto the green peg of the middle wooden base and releases the piece."}, {"label": "goal", "start_step": 387, "end_step": 532, "id": "0d7d2fef-0039-406a-8723-6e9590dd5a13"}, {"label": "subtasks", "start_step": 412, "end_step": 427, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand reaches downward toward the white hexagonal piece on the black table surface."}, {"label": "subtasks", "start_step": 428, "end_step": 509, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand grasps the white hexagonal piece on the black table surface with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 510, "end_step": 524, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: hold: Right hand holds the white hexagonal piece on the black table surface without moving."}, {"label": "subtasks", "start_step": 525, "end_step": 554, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand grasps the white hexagonal object on the black table surface, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 533, "end_step": 664, "id": "d0a2c744-45c9-4b89-b7ad-39ec956311a8"}, {"label": "subtasks", "start_step": 555, "end_step": 569, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal object from the table surface and transports it to the position above the leftmost front purple peg of the peg rack."}, {"label": "subtasks", "start_step": 570, "end_step": 659, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand mates the white hexagonal object onto the leftmost front purple peg by lowering it and fitting it into place."}, {"label": "subtasks", "start_step": 660, "end_step": 681, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: release: Right hand opens its fingers to release the green hexagonal piece on the purple rod of the wooden base."}, {"label": "goal", "start_step": 665, "end_step": 792, "id": "c065cfef-cb57-4cbf-a84a-f6f119d16f0a"}, {"label": "subtasks", "start_step": 682, "end_step": 711, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves downward toward the white hexagonal object on the black table surface."}, {"label": "subtasks", "start_step": 712, "end_step": 741, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal object on the table."}, {"label": "subtasks", "start_step": 742, "end_step": 779, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: hold: Right hand holds the white hexagonal object on the table without moving."}, {"label": "subtasks", "start_step": 780, "end_step": 809, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand grasps the white hexagonal part on the black table, with fingers adjusting the grip."}, {"label": "goal", "start_step": 793, "end_step": 1158, "id": "a80eaaa9-2d46-4647-9836-55bd1221e18c"}, {"label": "subtasks", "start_step": 810, "end_step": 831, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal part from the black table and moves it toward the middle wooden rack."}, {"label": "subtasks", "start_step": 832, "end_step": 959, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand aligns the white hexagonal part with the front-left purple peg on the wooden rack and inserts it onto the peg, with slight position and orientation adjustments."}, {"label": "subtasks", "start_step": 960, "end_step": 997, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: press: Right hand presses the white hexagonal part down along the front-left purple peg to secure it."}, {"label": "subtasks", "start_step": 998, "end_step": 1109, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: hold: Right hand holds the white hexagonal part on the front-left purple peg without moving."}, {"label": "subtasks", "start_step": 1110, "end_step": 1154, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand adjusts its grip on the white hexagonal part on the front-left purple peg, with fingers slightly repositioning."}, {"label": "subtasks", "start_step": 1155, "end_step": 1177, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: place_release: Right hand places the white hexagonal block onto the middle purple peg of the wooden base and releases the block."}, {"label": "goal", "start_step": 1159, "end_step": 1256, "id": "88d00067-7f85-457e-b3f7-e5afbd6b4682"}, {"label": "subtasks", "start_step": 1178, "end_step": 1199, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table in front of the wooden base."}, {"label": "subtasks", "start_step": 1200, "end_step": 1221, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing around it."}, {"label": "subtasks", "start_step": 1222, "end_step": 1244, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: hold: Right hand holds the white hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 1245, "end_step": 1274, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface, with fingers closing and adjusting to form a stable grip."}, {"label": "goal", "start_step": 1257, "end_step": 1526, "id": "4fec458b-78e9-4c18-945b-a96187c7e54d"}, {"label": "subtasks", "start_step": 1275, "end_step": 1304, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it upward and leftward to the position above the purple peg of the wooden rack."}, {"label": "subtasks", "start_step": 1305, "end_step": 1394, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand mates the white hexagonal block with the purple peg by aligning the block's hole with the peg and inserting it downwards."}, {"label": "subtasks", "start_step": 1395, "end_step": 1417, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift: Right hand lifts the white hexagonal block slightly upward along the purple peg."}, {"label": "subtasks", "start_step": 1418, "end_step": 1454, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: place: Right hand places the white hexagonal block downward along the purple peg until it is supported by the peg."}, {"label": "subtasks", "start_step": 1455, "end_step": 1514, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: hold: Right hand holds the white hexagonal block on the purple peg without any movement."}, {"label": "subtasks", "start_step": 1515, "end_step": 1537, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: place_release: Right hand places the white hexagonal piece onto the base of the front-right purple peg and opens fingers to release the grip."}, {"label": "goal", "start_step": 1527, "end_step": 1642, "id": "6dfa70fe-98cf-46ae-847d-f16809afd3a2"}, {"label": "subtasks", "start_step": 1538, "end_step": 1589, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves downward toward the green hexagonal piece on the black table."}, {"label": "subtasks", "start_step": 1590, "end_step": 1611, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand grasps the green hexagonal piece on the table, with fingers closing around the piece to form a grip."}, {"label": "subtasks", "start_step": 1612, "end_step": 1634, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: hold: Right hand holds the green hexagonal piece on the black table without moving."}, {"label": "subtasks", "start_step": 1635, "end_step": 1657, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand grasps the green hollow hexagonal block on the black table surface, with fingers closing to adjust and form a stable grip."}, {"label": "goal", "start_step": 1643, "end_step": 1788, "id": "7887e50c-e25e-41c8-a722-f4de322e8966"}, {"label": "subtasks", "start_step": 1658, "end_step": 1671, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the green hollow hexagonal block off the table and transports it to the position above the middle purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1672, "end_step": 1784, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand aligns the green hollow hexagonal block with the middle purple peg and slides the block down along the peg to complete the assembly."}, {"label": "subtasks", "start_step": 1785, "end_step": 1807, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate_release: Right hand mates the purple rod with the green block on the wooden base and releases the rod."}, {"label": "goal", "start_step": 1789, "end_step": 1884, "id": "ab13a6d0-6629-4849-9882-a87a898bfaa4"}, {"label": "subtasks", "start_step": 1808, "end_step": 1829, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table below the wooden base."}, {"label": "subtasks", "start_step": 1830, "end_step": 1904, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers adjusting to stabilize the grip."}, {"label": "goal", "start_step": 1885, "end_step": 2040, "id": "312fa9b5-054c-4213-a477-119615455a8c"}, {"label": "subtasks", "start_step": 1905, "end_step": 1927, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the black table and moves it towards the wooden pegboard in the middle of the table."}, {"label": "subtasks", "start_step": 1928, "end_step": 2024, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand mates the white hexagonal block with the purple vertical peg on the wooden pegboard, adjusting the block to fit onto the peg."}, {"label": "subtasks", "start_step": 2025, "end_step": 2039, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple peg without moving."}, {"label": "subtasks", "start_step": 2040, "end_step": 2061, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: release: Right hand releases the white cylindrical block on the stacked blocks, with fingers opening and separating from the block."}, {"label": "goal", "start_step": 2041, "end_step": 2146, "id": "e61c6119-0465-4105-8a54-2e26a1987672"}, {"label": "subtasks", "start_step": 2062, "end_step": 2077, "id": "reasoning-language-00050", "text": "Left hand: reach: Left hand moves upward and rightward toward the stacked blocks on the wooden base. | Right hand: reach: Right hand moves downward and rightward toward the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 2078, "end_step": 2099, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the upper left area of the frame without moving. | Right hand: reach: Right hand moves downward and rightward toward the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 2100, "end_step": 2129, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the upper left area of the frame without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing and adjusting to stabilize the grip."}, {"label": "subtasks", "start_step": 2130, "end_step": 2144, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the upper left area of the frame without moving. | Right hand: hold_lift: Right hand holds the white hexagonal block still on the table first, then lifts it slightly off the table surface."}, {"label": "subtasks", "start_step": 2145, "end_step": 2181, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the upper left area of the frame without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal ring from the right table surface and transports it left-upward to the top of the purple rod."}, {"label": "goal", "start_step": 2147, "end_step": 2566, "id": "31944ae8-3726-4701-a7f3-98e7b013726b"}, {"label": "subtasks", "start_step": 2182, "end_step": 2249, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the upper left area of the frame without moving. | Right hand: mate_release: Right hand aligns the white hexagonal ring with the purple rod, fits it onto the rod with slight position adjustments, and releases the ring."}, {"label": "subtasks", "start_step": 2250, "end_step": 2301, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the upper left area of the frame without moving. | Right hand: reach: Right hand reaches leftward toward the white hexagonal ring on the adjacent white pillar."}, {"label": "subtasks", "start_step": 2302, "end_step": 2324, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the upper left area of the frame without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal ring on top of the white pillar."}, {"label": "subtasks", "start_step": 2325, "end_step": 2354, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the upper left area of the frame without moving. | Right hand: lift: Right hand lifts the white hexagonal ring upward off the white pillar."}, {"label": "subtasks", "start_step": 2355, "end_step": 2391, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the upper left area of the frame without moving. | Right hand: transport: Right hand transports the white hexagonal ring rightward to the top of the purple rod."}, {"label": "subtasks", "start_step": 2392, "end_step": 2474, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the upper left area of the frame without moving. | Right hand: mate_release: Right hand aligns the white hexagonal ring with the purple rod, fits it onto the rod with slight adjustments, and releases the ring."}, {"label": "subtasks", "start_step": 2475, "end_step": 2511, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the upper left area of the frame without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal ring on the purple rod."}, {"label": "subtasks", "start_step": 2512, "end_step": 2534, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the upper left area of the frame without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal ring on the purple rod."}, {"label": "subtasks", "start_step": 2535, "end_step": 2564, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty at the upper left area of the frame without moving. | Right hand: press: Right hand presses the white hexagonal ring downward along the purple rod."}, {"label": "subtasks", "start_step": 2565, "end_step": 2579, "id": "reasoning-language-00064", "text": "Left hand: idle: Left hand remains empty at the upper left area of the frame without moving. | Right hand: release: Right hand releases the white hexagonal block at the top-right of the wooden base, with fingers opening to separate from the block."}, {"label": "goal", "start_step": 2567, "end_step": 2648, "id": "9da73938-16bb-43ec-8712-3b6dbb3bb93e"}, {"label": "subtasks", "start_step": 2580, "end_step": 2609, "id": "reasoning-language-00065", "text": "Left hand: idle: Left hand remains empty at the upper left area of the frame without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the black table, keeping fingers slightly open."}, {"label": "subtasks", "start_step": 2610, "end_step": 2661, "id": "reasoning-language-00066", "text": "Left hand: idle: Left hand remains empty at the upper left area of the frame without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, with fingers closing around the block to adjust the grip."}, {"label": "goal", "start_step": 2649, "end_step": 2954, "id": "85136921-a65b-4883-b609-55f56dbbaf37"}, {"label": "subtasks", "start_step": 2662, "end_step": 2684, "id": "reasoning-language-00067", "text": "Left hand: idle: Left hand remains empty at the upper left area of the frame without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and transports it towards the purple peg on the wooden block rack."}, {"label": "subtasks", "start_step": 2685, "end_step": 2954, "id": "reasoning-language-00068", "text": "Left hand: idle: Left hand remains empty at the upper left area of the frame without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple peg on the wooden rack, adjusting the block's position along the peg continuously."}, {"label": "subtasks", "start_step": 2955, "end_step": 2977, "id": "reasoning-language-00069", "text": "Left hand: idle: Left hand remains empty at the upper left area of the frame without moving. | Right hand: release: Right hand releases the white cylindrical block with purple top on the wooden base, fingers gradually opening and separating from the block."}, {"label": "goal", "start_step": 2955, "end_step": 3060, "id": "2d024b36-4ac8-4f94-bae2-2227e6e543ee"}, {"label": "subtasks", "start_step": 2978, "end_step": 3014, "id": "reasoning-language-00070", "text": "Left hand: idle: Left hand remains empty at the upper left area of the frame without moving. | Right hand: reach: Right hand reaches towards the green cubic block on the dark table surface, moving down and right."}, {"label": "subtasks", "start_step": 3015, "end_step": 3081, "id": "reasoning-language-00071", "text": "Left hand: idle: Left hand remains empty at the upper left area of the frame without moving. | Right hand: grasp: Right hand grasps the green cubic block on the dark table surface, fingers closing around the block to adjust the grip."}, {"label": "goal", "start_step": 3061, "end_step": 3462, "id": "9746d5df-bb83-4ce5-993d-8281e6e6ec0b"}, {"label": "subtasks", "start_step": 3082, "end_step": 3104, "id": "reasoning-language-00072", "text": "Left hand: idle: Left hand remains empty at the upper left area of the frame without moving. | Right hand: lift_transport: Right hand lifts the green block off the table surface and transports it leftward to the top of the rightmost white post on the wooden rack."}, {"label": "subtasks", "start_step": 3105, "end_step": 3254, "id": "reasoning-language-00073", "text": "Left hand: idle: Left hand remains empty at the upper left area of the frame without moving. | Right hand: mate: Right hand aligns the green block with the rightmost white post and lowers it onto the post, making small position adjustments to fit the block."}, {"label": "subtasks", "start_step": 3255, "end_step": 3291, "id": "reasoning-language-00074", "text": "Left hand: idle: Left hand remains empty at the upper left area of the frame without moving. | Right hand: lift: Right hand lifts the green block upward away from the rightmost white post for repositioning."}, {"label": "subtasks", "start_step": 3292, "end_step": 3449, "id": "reasoning-language-00075", "text": "Left hand: idle: Left hand remains empty at the upper left area of the frame without moving. | Right hand: mate: Right hand realigns the green block with the rightmost white post and lowers it fully onto the post, adjusting until the block is properly seated."}, {"label": "subtasks", "start_step": 3450, "end_step": 3464, "id": "reasoning-language-00076", "text": "Left hand: idle: Left hand remains empty at the upper left area of the frame without moving. | Right hand: release: Right hand releases the green block on the rightmost white post, with fingers opening and separating from the block."}, {"label": "home", "start_step": 3491, "end_step": 3521, "id": "KOqlmL84aRnmVGqWXBpRY"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: other:spread_fingers: Left hand spreads its fingers at the left side of the table, with no obvious position change. | Right hand: reach: Right hand moves leftward and downward toward the green hexagonal part on the table in front of the peg board."}, {"label": "subtasks", "start_step": 30, "end_step": 81, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves leftward and downward toward the green hexagonal part on the table in front of the peg board."}, {"label": "subtasks", "start_step": 82, "end_step": 127, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand grasps the green hexagonal part on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 128, "end_step": 179, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: hold: Right hand holds the green hexagonal part on the table without moving."}, {"label": "subtasks", "start_step": 180, "end_step": 209, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand grasps the green hexagonal piece on the black table, adjusting its grip with fingers."}, {"label": "subtasks", "start_step": 210, "end_step": 239, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the green hexagonal piece from the black table and transports it upward to the position above the leftmost peg on the wooden base."}, {"label": "subtasks", "start_step": 240, "end_step": 359, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand mates the green hexagonal piece onto the leftmost peg of the wooden base, aligning and inserting it into position."}, {"label": "subtasks", "start_step": 360, "end_step": 374, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: hold: Right hand holds the green hexagonal piece fitted on the leftmost peg of the wooden base without moving."}, {"label": "subtasks", "start_step": 375, "end_step": 411, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate_release: Right hand mates the white hexagonal piece onto the green peg of the middle wooden base and releases the piece."}, {"label": "subtasks", "start_step": 412, "end_step": 427, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand reaches downward toward the white hexagonal piece on the black table surface."}, {"label": "subtasks", "start_step": 428, "end_step": 509, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand grasps the white hexagonal piece on the black table surface with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 510, "end_step": 524, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: hold: Right hand holds the white hexagonal piece on the black table surface without moving."}, {"label": "subtasks", "start_step": 525, "end_step": 554, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand grasps the white hexagonal object on the black table surface, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 555, "end_step": 569, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal object from the table surface and transports it to the position above the leftmost front purple peg of the peg rack."}, {"label": "subtasks", "start_step": 570, "end_step": 659, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand mates the white hexagonal object onto the leftmost front purple peg by lowering it and fitting it into place."}, {"label": "subtasks", "start_step": 660, "end_step": 681, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: release: Right hand opens its fingers to release the green hexagonal piece on the purple rod of the wooden base."}, {"label": "subtasks", "start_step": 682, "end_step": 711, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves downward toward the white hexagonal object on the black table surface."}, {"label": "subtasks", "start_step": 712, "end_step": 741, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal object on the table."}, {"label": "subtasks", "start_step": 742, "end_step": 779, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: hold: Right hand holds the white hexagonal object on the table without moving."}, {"label": "subtasks", "start_step": 780, "end_step": 809, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand grasps the white hexagonal part on the black table, with fingers adjusting the grip."}, {"label": "subtasks", "start_step": 810, "end_step": 831, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal part from the black table and moves it toward the middle wooden rack."}, {"label": "subtasks", "start_step": 832, "end_step": 959, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand aligns the white hexagonal part with the front-left purple peg on the wooden rack and inserts it onto the peg, with slight position and orientation adjustments."}, {"label": "subtasks", "start_step": 960, "end_step": 997, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: press: Right hand presses the white hexagonal part down along the front-left purple peg to secure it."}, {"label": "subtasks", "start_step": 998, "end_step": 1109, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: hold: Right hand holds the white hexagonal part on the front-left purple peg without moving."}, {"label": "subtasks", "start_step": 1110, "end_step": 1154, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand adjusts its grip on the white hexagonal part on the front-left purple peg, with fingers slightly repositioning."}, {"label": "subtasks", "start_step": 1155, "end_step": 1177, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: place_release: Right hand places the white hexagonal block onto the middle purple peg of the wooden base and releases the block."}, {"label": "subtasks", "start_step": 1178, "end_step": 1199, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table in front of the wooden base."}, {"label": "subtasks", "start_step": 1200, "end_step": 1221, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing around it."}, {"label": "subtasks", "start_step": 1222, "end_step": 1244, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: hold: Right hand holds the white hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 1245, "end_step": 1274, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1275, "end_step": 1304, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it upward and leftward to the position above the purple peg of the wooden rack."}, {"label": "subtasks", "start_step": 1305, "end_step": 1394, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand mates the white hexagonal block with the purple peg by aligning the block's hole with the peg and inserting it downwards."}, {"label": "subtasks", "start_step": 1395, "end_step": 1417, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift: Right hand lifts the white hexagonal block slightly upward along the purple peg."}, {"label": "subtasks", "start_step": 1418, "end_step": 1454, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: place: Right hand places the white hexagonal block downward along the purple peg until it is supported by the peg."}, {"label": "subtasks", "start_step": 1455, "end_step": 1514, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: hold: Right hand holds the white hexagonal block on the purple peg without any movement."}, {"label": "subtasks", "start_step": 1515, "end_step": 1537, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: place_release: Right hand places the white hexagonal piece onto the base of the front-right purple peg and opens fingers to release the grip."}, {"label": "subtasks", "start_step": 1538, "end_step": 1589, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves downward toward the green hexagonal piece on the black table."}, {"label": "subtasks", "start_step": 1590, "end_step": 1611, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand grasps the green hexagonal piece on the table, with fingers closing around the piece to form a grip."}, {"label": "subtasks", "start_step": 1612, "end_step": 1634, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: hold: Right hand holds the green hexagonal piece on the black table without moving."}, {"label": "subtasks", "start_step": 1635, "end_step": 1657, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand grasps the green hollow hexagonal block on the black table surface, with fingers closing to adjust and form a stable grip."}, {"label": "subtasks", "start_step": 1658, "end_step": 1671, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the green hollow hexagonal block off the table and transports it to the position above the middle purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1672, "end_step": 1784, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand aligns the green hollow hexagonal block with the middle purple peg and slides the block down along the peg to complete the assembly."}, {"label": "subtasks", "start_step": 1785, "end_step": 1807, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate_release: Right hand mates the purple rod with the green block on the wooden base and releases the rod."}, {"label": "subtasks", "start_step": 1808, "end_step": 1829, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table below the wooden base."}, {"label": "subtasks", "start_step": 1830, "end_step": 1904, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers adjusting to stabilize the grip."}, {"label": "subtasks", "start_step": 1905, "end_step": 1927, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the black table and moves it towards the wooden pegboard in the middle of the table."}, {"label": "subtasks", "start_step": 1928, "end_step": 2024, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand mates the white hexagonal block with the purple vertical peg on the wooden pegboard, adjusting the block to fit onto the peg."}, {"label": "subtasks", "start_step": 2025, "end_step": 2039, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple peg without moving."}, {"label": "subtasks", "start_step": 2040, "end_step": 2061, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: release: Right hand releases the white cylindrical block on the stacked blocks, with fingers opening and separating from the block."}, {"label": "subtasks", "start_step": 2062, "end_step": 2077, "id": "reasoning-language-00050", "text": "Left hand: reach: Left hand moves upward and rightward toward the stacked blocks on the wooden base. | Right hand: reach: Right hand moves downward and rightward toward the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 2078, "end_step": 2099, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the upper left area of the frame without moving. | Right hand: reach: Right hand moves downward and rightward toward the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 2100, "end_step": 2129, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the upper left area of the frame without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing and adjusting to stabilize the grip."}, {"label": "subtasks", "start_step": 2130, "end_step": 2144, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the upper left area of the frame without moving. | Right hand: hold_lift: Right hand holds the white hexagonal block still on the table first, then lifts it slightly off the table surface."}, {"label": "subtasks", "start_step": 2145, "end_step": 2181, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the upper left area of the frame without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal ring from the right table surface and transports it left-upward to the top of the purple rod."}, {"label": "subtasks", "start_step": 2182, "end_step": 2249, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the upper left area of the frame without moving. | Right hand: mate_release: Right hand aligns the white hexagonal ring with the purple rod, fits it onto the rod with slight position adjustments, and releases the ring."}, {"label": "subtasks", "start_step": 2250, "end_step": 2301, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the upper left area of the frame without moving. | Right hand: reach: Right hand reaches leftward toward the white hexagonal ring on the adjacent white pillar."}, {"label": "subtasks", "start_step": 2302, "end_step": 2324, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the upper left area of the frame without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal ring on top of the white pillar."}, {"label": "subtasks", "start_step": 2325, "end_step": 2354, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the upper left area of the frame without moving. | Right hand: lift: Right hand lifts the white hexagonal ring upward off the white pillar."}, {"label": "subtasks", "start_step": 2355, "end_step": 2391, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the upper left area of the frame without moving. | Right hand: transport: Right hand transports the white hexagonal ring rightward to the top of the purple rod."}, {"label": "subtasks", "start_step": 2392, "end_step": 2474, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the upper left area of the frame without moving. | Right hand: mate_release: Right hand aligns the white hexagonal ring with the purple rod, fits it onto the rod with slight adjustments, and releases the ring."}, {"label": "subtasks", "start_step": 2475, "end_step": 2511, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the upper left area of the frame without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal ring on the purple rod."}, {"label": "subtasks", "start_step": 2512, "end_step": 2534, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the upper left area of the frame without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal ring on the purple rod."}, {"label": "subtasks", "start_step": 2535, "end_step": 2564, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty at the upper left area of the frame without moving. | Right hand: press: Right hand presses the white hexagonal ring downward along the purple rod."}, {"label": "subtasks", "start_step": 2565, "end_step": 2579, "id": "reasoning-language-00064", "text": "Left hand: idle: Left hand remains empty at the upper left area of the frame without moving. | Right hand: release: Right hand releases the white hexagonal block at the top-right of the wooden base, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 2580, "end_step": 2609, "id": "reasoning-language-00065", "text": "Left hand: idle: Left hand remains empty at the upper left area of the frame without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the black table, keeping fingers slightly open."}, {"label": "subtasks", "start_step": 2610, "end_step": 2661, "id": "reasoning-language-00066", "text": "Left hand: idle: Left hand remains empty at the upper left area of the frame without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, with fingers closing around the block to adjust the grip."}, {"label": "subtasks", "start_step": 2662, "end_step": 2684, "id": "reasoning-language-00067", "text": "Left hand: idle: Left hand remains empty at the upper left area of the frame without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and transports it towards the purple peg on the wooden block rack."}, {"label": "subtasks", "start_step": 2685, "end_step": 2954, "id": "reasoning-language-00068", "text": "Left hand: idle: Left hand remains empty at the upper left area of the frame without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple peg on the wooden rack, adjusting the block's position along the peg continuously."}, {"label": "subtasks", "start_step": 2955, "end_step": 2977, "id": "reasoning-language-00069", "text": "Left hand: idle: Left hand remains empty at the upper left area of the frame without moving. | Right hand: release: Right hand releases the white cylindrical block with purple top on the wooden base, fingers gradually opening and separating from the block."}, {"label": "subtasks", "start_step": 2978, "end_step": 3014, "id": "reasoning-language-00070", "text": "Left hand: idle: Left hand remains empty at the upper left area of the frame without moving. | Right hand: reach: Right hand reaches towards the green cubic block on the dark table surface, moving down and right."}, {"label": "subtasks", "start_step": 3015, "end_step": 3081, "id": "reasoning-language-00071", "text": "Left hand: idle: Left hand remains empty at the upper left area of the frame without moving. | Right hand: grasp: Right hand grasps the green cubic block on the dark table surface, fingers closing around the block to adjust the grip."}, {"label": "subtasks", "start_step": 3082, "end_step": 3104, "id": "reasoning-language-00072", "text": "Left hand: idle: Left hand remains empty at the upper left area of the frame without moving. | Right hand: lift_transport: Right hand lifts the green block off the table surface and transports it leftward to the top of the rightmost white post on the wooden rack."}, {"label": "subtasks", "start_step": 3105, "end_step": 3254, "id": "reasoning-language-00073", "text": "Left hand: idle: Left hand remains empty at the upper left area of the frame without moving. | Right hand: mate: Right hand aligns the green block with the rightmost white post and lowers it onto the post, making small position adjustments to fit the block."}, {"label": "subtasks", "start_step": 3255, "end_step": 3291, "id": "reasoning-language-00074", "text": "Left hand: idle: Left hand remains empty at the upper left area of the frame without moving. | Right hand: lift: Right hand lifts the green block upward away from the rightmost white post for repositioning."}, {"label": "subtasks", "start_step": 3292, "end_step": 3449, "id": "reasoning-language-00075", "text": "Left hand: idle: Left hand remains empty at the upper left area of the frame without moving. | Right hand: mate: Right hand realigns the green block with the rightmost white post and lowers it fully onto the post, adjusting until the block is properly seated."}, {"label": "subtasks", "start_step": 3450, "end_step": 3464, "id": "reasoning-language-00076", "text": "Left hand: idle: Left hand remains empty at the upper left area of the frame without moving. | Right hand: release: Right hand releases the green block on the rightmost white post, with fingers opening and separating from the block."}], "episode_index": 12}
+{"source_uid": "af79f39548164715", "num_frames": 3275, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 74, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves towards the green hexagonal block located on the black table below the wooden peg base."}, {"label": "goal", "start_step": 0, "end_step": 120, "id": "6048054f-085d-450e-bef5-d0885490b181"}, {"label": "valid", "start_step": 0, "end_step": 3242, "id": "o5JZ7PnS9ijy6IHCRi5XO"}, {"label": "subtasks", "start_step": 75, "end_step": 141, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand adjusts its fingers to grasp the green hexagonal block on the black table."}, {"label": "goal", "start_step": 121, "end_step": 268, "id": "8a480112-4806-43f9-a40f-abdb71701459"}, {"label": "subtasks", "start_step": 142, "end_step": 164, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it to above the leftmost purple rod of the wooden rack."}, {"label": "subtasks", "start_step": 165, "end_step": 187, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand aligns the green block with the leftmost purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 188, "end_step": 254, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: press: Right hand presses the green block down along the purple rod to the bottom of the wooden rack."}, {"label": "subtasks", "start_step": 255, "end_step": 291, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: place: Right hand places the white hexagonal block onto the green post fixed on the wooden base."}, {"label": "goal", "start_step": 269, "end_step": 330, "id": "ffbcbcbb-72d2-40cd-b993-815b97a451db"}, {"label": "subtasks", "start_step": 292, "end_step": 314, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves downward towards the white hexagonal block lying on the black tabletop."}, {"label": "subtasks", "start_step": 315, "end_step": 351, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the black tabletop."}, {"label": "goal", "start_step": 331, "end_step": 448, "id": "078f8f79-276a-4420-be1e-2cbda7ef8705"}, {"label": "subtasks", "start_step": 352, "end_step": 367, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it towards the leftmost purple rod on the wooden base."}, {"label": "subtasks", "start_step": 368, "end_step": 397, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand aligns the white hexagonal block with the leftmost purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 398, "end_step": 434, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: press: Right hand presses the white hexagonal block down along the purple rod to fix it in position."}, {"label": "subtasks", "start_step": 435, "end_step": 464, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand mates the white cylindrical sleeve onto the leftmost purple peg on the wooden base."}, {"label": "goal", "start_step": 449, "end_step": 530, "id": "e2c000fc-66dc-4c3f-b107-3ea216f8af50"}, {"label": "subtasks", "start_step": 465, "end_step": 494, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: retreat: Right hand retreats downward away from the wooden peg base."}, {"label": "subtasks", "start_step": 495, "end_step": 524, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand reaches toward the white hexagonal sleeve on the black tabletop."}, {"label": "subtasks", "start_step": 525, "end_step": 554, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand grasps the white hexagonal hollow block on the black table, with fingers closing to adjust the grip."}, {"label": "goal", "start_step": 531, "end_step": 658, "id": "ec3a165d-c991-409e-b9a2-996082f1ff73"}, {"label": "subtasks", "start_step": 555, "end_step": 584, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal hollow block from the table and transports it towards the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 585, "end_step": 644, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand mates the white hexagonal hollow block onto the purple rod of the wooden rack, adjusting to fit it into place."}, {"label": "subtasks", "start_step": 645, "end_step": 674, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: release: Right hand releases the white cylindrical block placed on the purple rod, fingers open to separate from the block."}, {"label": "goal", "start_step": 659, "end_step": 728, "id": "26178fb2-9971-4314-8447-09ef0bd0455c"}, {"label": "subtasks", "start_step": 675, "end_step": 711, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves downward towards the white cylindrical block on the black table surface."}, {"label": "subtasks", "start_step": 712, "end_step": 741, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand contacts the white cylindrical block on the table, fingers start to close to form a stable grasp."}, {"label": "goal", "start_step": 729, "end_step": 882, "id": "1ebab583-b721-4351-96b7-d2125feb9a97"}, {"label": "subtasks", "start_step": 742, "end_step": 764, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 765, "end_step": 869, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it onto the rod to complete assembly."}, {"label": "subtasks", "start_step": 870, "end_step": 899, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: place: Right hand places the white ring onto the purple rod fixed on the wooden base."}, {"label": "goal", "start_step": 883, "end_step": 948, "id": "2098fac9-567f-4bed-aa79-75294279a702"}, {"label": "subtasks", "start_step": 900, "end_step": 929, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves downward toward the green square block placed on the table surface."}, {"label": "subtasks", "start_step": 930, "end_step": 967, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand grasps the green square block on the table surface, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 949, "end_step": 1076, "id": "0529cc32-3b66-4a20-811a-e49a1b1dd93b"}, {"label": "subtasks", "start_step": 968, "end_step": 989, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it towards the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 990, "end_step": 1064, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand aligns the green block with the purple rod on the wooden rack and fits the block onto the rod."}, {"label": "subtasks", "start_step": 1065, "end_step": 1094, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: place_release: Right hand places the green block onto the peg of the wooden base and releases it."}, {"label": "goal", "start_step": 1077, "end_step": 1168, "id": "f9f6cb90-489d-40b3-8485-98e94cc6960c"}, {"label": "subtasks", "start_step": 1095, "end_step": 1124, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves downwards towards the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 1125, "end_step": 1184, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand adjusts fingers to grasp the white hexagonal block on the black tabletop."}, {"label": "goal", "start_step": 1169, "end_step": 1298, "id": "b7b71ea1-d0ab-415d-9a54-192dae7cb5a6"}, {"label": "subtasks", "start_step": 1185, "end_step": 1199, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal object off the table and transports it toward the wooden rack."}, {"label": "subtasks", "start_step": 1200, "end_step": 1214, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand aligns the white hexagonal object with the target purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1215, "end_step": 1289, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: press: Right hand presses the white hexagonal object down onto the purple rod to secure the assembly."}, {"label": "subtasks", "start_step": 1290, "end_step": 1319, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: place: Right hand places the white cylindrical sleeve onto the purple rod of the wooden base."}, {"label": "goal", "start_step": 1299, "end_step": 1368, "id": "70a4a8cb-a7d2-4b7e-a195-a7c49a66e962"}, {"label": "subtasks", "start_step": 1320, "end_step": 1357, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves toward the white cylindrical sleeve on the black table surface."}, {"label": "subtasks", "start_step": 1358, "end_step": 1387, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand closes fingers to grasp the white cylindrical sleeve on the black table surface."}, {"label": "goal", "start_step": 1369, "end_step": 1538, "id": "955942a8-4451-46f8-a816-8f5900c352b4"}, {"label": "subtasks", "start_step": 1388, "end_step": 1401, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1402, "end_step": 1484, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1485, "end_step": 1529, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: idle: Right hand remains empty near the wooden base without moving."}, {"label": "subtasks", "start_step": 1530, "end_step": 1551, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: release: Right hand releases the white block on the purple rod of the wooden base."}, {"label": "goal", "start_step": 1539, "end_step": 1634, "id": "701552ab-2d3a-450f-990c-93da842e7993"}, {"label": "subtasks", "start_step": 1552, "end_step": 1604, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block placed on the table."}, {"label": "subtasks", "start_step": 1605, "end_step": 1634, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1635, "end_step": 1664, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: transport: Right hand transports the white ring object from the right table surface towards the wooden block rack."}, {"label": "goal", "start_step": 1635, "end_step": 1760, "id": "7457e9a1-72b0-4103-aa6e-d6beb79340e8"}, {"label": "subtasks", "start_step": 1665, "end_step": 1747, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: place: Right hand places the white ring object onto the corresponding post on the wooden block rack and adjusts its position slightly."}, {"label": "subtasks", "start_step": 1748, "end_step": 1769, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: release: Right hand releases the white ring object placed on the wooden block rack post."}, {"label": "goal", "start_step": 1761, "end_step": 1844, "id": "2c6d68d5-d09f-493b-90f3-d2d08c6a02c1"}, {"label": "subtasks", "start_step": 1770, "end_step": 1791, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand reaches towards the green block on the table surface."}, {"label": "subtasks", "start_step": 1792, "end_step": 1844, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand grasps the green block on the table, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 1845, "end_step": 1889, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the green block from the table and transports it above the white bottle with a purple rod."}, {"label": "goal", "start_step": 1845, "end_step": 3206, "id": "8cc05741-083d-4802-9737-414037c7c4f7"}, {"label": "subtasks", "start_step": 1890, "end_step": 2331, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand aligns the green block with the purple rod of the white bottle to attempt insertion, until the green block falls onto the table."}, {"label": "subtasks", "start_step": 2332, "end_step": 2691, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves toward the green block that dropped on the table."}, {"label": "subtasks", "start_step": 2692, "end_step": 2721, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand grasps the green block on the table."}, {"label": "subtasks", "start_step": 2722, "end_step": 2879, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reorient: Right hand rotates the green block to adjust its orientation, making the hole face upward."}, {"label": "subtasks", "start_step": 2880, "end_step": 2917, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the adjusted green block from the table and transports it above the white bottle with the purple rod."}, {"label": "subtasks", "start_step": 2918, "end_step": 3097, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand aligns the hole of the green block with the purple rod and inserts the block onto the rod."}, {"label": "subtasks", "start_step": 3098, "end_step": 3209, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: press: Right hand presses the green block down to fully fit it onto the white bottle."}, {"label": "home", "start_step": 3243, "end_step": 3274, "id": "WqpStV3CwxlJPUF_f-LNd"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 74, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves towards the green hexagonal block located on the black table below the wooden peg base."}, {"label": "subtasks", "start_step": 75, "end_step": 141, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand adjusts its fingers to grasp the green hexagonal block on the black table."}, {"label": "subtasks", "start_step": 142, "end_step": 164, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it to above the leftmost purple rod of the wooden rack."}, {"label": "subtasks", "start_step": 165, "end_step": 187, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand aligns the green block with the leftmost purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 188, "end_step": 254, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: press: Right hand presses the green block down along the purple rod to the bottom of the wooden rack."}, {"label": "subtasks", "start_step": 255, "end_step": 291, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: place: Right hand places the white hexagonal block onto the green post fixed on the wooden base."}, {"label": "subtasks", "start_step": 292, "end_step": 314, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves downward towards the white hexagonal block lying on the black tabletop."}, {"label": "subtasks", "start_step": 315, "end_step": 351, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 352, "end_step": 367, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it towards the leftmost purple rod on the wooden base."}, {"label": "subtasks", "start_step": 368, "end_step": 397, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand aligns the white hexagonal block with the leftmost purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 398, "end_step": 434, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: press: Right hand presses the white hexagonal block down along the purple rod to fix it in position."}, {"label": "subtasks", "start_step": 435, "end_step": 464, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand mates the white cylindrical sleeve onto the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 465, "end_step": 494, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: retreat: Right hand retreats downward away from the wooden peg base."}, {"label": "subtasks", "start_step": 495, "end_step": 524, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand reaches toward the white hexagonal sleeve on the black tabletop."}, {"label": "subtasks", "start_step": 525, "end_step": 554, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand grasps the white hexagonal hollow block on the black table, with fingers closing to adjust the grip."}, {"label": "subtasks", "start_step": 555, "end_step": 584, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal hollow block from the table and transports it towards the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 585, "end_step": 644, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand mates the white hexagonal hollow block onto the purple rod of the wooden rack, adjusting to fit it into place."}, {"label": "subtasks", "start_step": 645, "end_step": 674, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: release: Right hand releases the white cylindrical block placed on the purple rod, fingers open to separate from the block."}, {"label": "subtasks", "start_step": 675, "end_step": 711, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves downward towards the white cylindrical block on the black table surface."}, {"label": "subtasks", "start_step": 712, "end_step": 741, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand contacts the white cylindrical block on the table, fingers start to close to form a stable grasp."}, {"label": "subtasks", "start_step": 742, "end_step": 764, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 765, "end_step": 869, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it onto the rod to complete assembly."}, {"label": "subtasks", "start_step": 870, "end_step": 899, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: place: Right hand places the white ring onto the purple rod fixed on the wooden base."}, {"label": "subtasks", "start_step": 900, "end_step": 929, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves downward toward the green square block placed on the table surface."}, {"label": "subtasks", "start_step": 930, "end_step": 967, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand grasps the green square block on the table surface, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 968, "end_step": 989, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it towards the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 990, "end_step": 1064, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand aligns the green block with the purple rod on the wooden rack and fits the block onto the rod."}, {"label": "subtasks", "start_step": 1065, "end_step": 1094, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: place_release: Right hand places the green block onto the peg of the wooden base and releases it."}, {"label": "subtasks", "start_step": 1095, "end_step": 1124, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves downwards towards the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 1125, "end_step": 1184, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand adjusts fingers to grasp the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 1185, "end_step": 1199, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal object off the table and transports it toward the wooden rack."}, {"label": "subtasks", "start_step": 1200, "end_step": 1214, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand aligns the white hexagonal object with the target purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1215, "end_step": 1289, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: press: Right hand presses the white hexagonal object down onto the purple rod to secure the assembly."}, {"label": "subtasks", "start_step": 1290, "end_step": 1319, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: place: Right hand places the white cylindrical sleeve onto the purple rod of the wooden base."}, {"label": "subtasks", "start_step": 1320, "end_step": 1357, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves toward the white cylindrical sleeve on the black table surface."}, {"label": "subtasks", "start_step": 1358, "end_step": 1387, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand closes fingers to grasp the white cylindrical sleeve on the black table surface."}, {"label": "subtasks", "start_step": 1388, "end_step": 1401, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1402, "end_step": 1484, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1485, "end_step": 1529, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: idle: Right hand remains empty near the wooden base without moving."}, {"label": "subtasks", "start_step": 1530, "end_step": 1551, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: release: Right hand releases the white block on the purple rod of the wooden base."}, {"label": "subtasks", "start_step": 1552, "end_step": 1604, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block placed on the table."}, {"label": "subtasks", "start_step": 1605, "end_step": 1634, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1635, "end_step": 1664, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: transport: Right hand transports the white ring object from the right table surface towards the wooden block rack."}, {"label": "subtasks", "start_step": 1665, "end_step": 1747, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: place: Right hand places the white ring object onto the corresponding post on the wooden block rack and adjusts its position slightly."}, {"label": "subtasks", "start_step": 1748, "end_step": 1769, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: release: Right hand releases the white ring object placed on the wooden block rack post."}, {"label": "subtasks", "start_step": 1770, "end_step": 1791, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand reaches towards the green block on the table surface."}, {"label": "subtasks", "start_step": 1792, "end_step": 1844, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand grasps the green block on the table, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 1845, "end_step": 1889, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the green block from the table and transports it above the white bottle with a purple rod."}, {"label": "subtasks", "start_step": 1890, "end_step": 2331, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand aligns the green block with the purple rod of the white bottle to attempt insertion, until the green block falls onto the table."}, {"label": "subtasks", "start_step": 2332, "end_step": 2691, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves toward the green block that dropped on the table."}, {"label": "subtasks", "start_step": 2692, "end_step": 2721, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand grasps the green block on the table."}, {"label": "subtasks", "start_step": 2722, "end_step": 2879, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reorient: Right hand rotates the green block to adjust its orientation, making the hole face upward."}, {"label": "subtasks", "start_step": 2880, "end_step": 2917, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the adjusted green block from the table and transports it above the white bottle with the purple rod."}, {"label": "subtasks", "start_step": 2918, "end_step": 3097, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand aligns the hole of the green block with the purple rod and inserts the block onto the rod."}, {"label": "subtasks", "start_step": 3098, "end_step": 3209, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: press: Right hand presses the green block down to fully fit it onto the white bottle."}], "episode_index": 13}
+{"source_uid": "9a5ace26e09af399", "num_frames": 2561, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 37, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: idle: Right hand remains empty at the right initial position with extended fingers, without any observable movement."}, {"label": "goal", "start_step": 0, "end_step": 114, "id": "1a92db1e-3c6c-441c-9cfd-bf89796f2382"}, {"label": "valid", "start_step": 0, "end_step": 2529, "id": "Nu3BuMP9gr3HROf2XAsfP"}, {"label": "subtasks", "start_step": 38, "end_step": 81, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: reach: Right hand moves downward and leftward toward the green hexagonal block on the table surface, with fingers adjusting slightly during movement."}, {"label": "subtasks", "start_step": 82, "end_step": 134, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: grasp: Right hand makes contact with the green hexagonal block on the table, fingers close and make slight adjustments to establish a grip on the block."}, {"label": "goal", "start_step": 115, "end_step": 262, "id": "310905d8-1807-44b6-83c8-e4e0ffbe69a7"}, {"label": "subtasks", "start_step": 135, "end_step": 149, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: lift: Right hand moves vertically upwards to lift the gripped green hexagonal block until the block is fully separated from the table surface."}, {"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 workspace without any observable movement. | Right hand: transport: Right hand moves the lifted green hexagonal block upwards and toward the wooden peg base to position the block over the target purple vertical peg."}, {"label": "subtasks", "start_step": 172, "end_step": 254, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the target purple peg, lowers the block onto the peg, and makes small positional adjustments to seat the block on the rod."}, {"label": "subtasks", "start_step": 255, "end_step": 299, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: reach: Right hand moves downward from the wooden peg rack toward the closest white hexagonal block on the black table surface."}, {"label": "goal", "start_step": 263, "end_step": 414, "id": "6811038b-cd28-49c8-a4e6-bc32876ae02b"}, {"label": "subtasks", "start_step": 300, "end_step": 434, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: grasp: Right hand contacts the white hexagonal block, closes fingers around the block, and makes slight adjustments to finger placement and block orientation to secure a stable grip."}, {"label": "goal", "start_step": 415, "end_step": 534, "id": "e0ea1227-8897-463b-801a-f42afb3b8acb"}, {"label": "subtasks", "start_step": 435, "end_step": 471, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table and moves it upward to position above the target green post on the wooden block assembly."}, {"label": "subtasks", "start_step": 472, "end_step": 524, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the target green post and lowers the nut to fit onto the post."}, {"label": "subtasks", "start_step": 525, "end_step": 561, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: mate_release: Right hand aligns the white cylindrical block with the purple vertical peg on the wooden base, mates the block onto the peg and releases the block."}, {"label": "goal", "start_step": 535, "end_step": 634, "id": "78e2c839-eaf9-422d-860c-086a75c6d104"}, {"label": "subtasks", "start_step": 562, "end_step": 584, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: reach: Right hand moves downwards empty-handed to approach the white hexagonal block placed on the black table surface."}, {"label": "subtasks", "start_step": 585, "end_step": 659, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: grasp: Right hand adjusts finger positions and closes fingers around the white hexagonal block on the table to establish a stable grasp."}, {"label": "goal", "start_step": 635, "end_step": 780, "id": "cce60405-42f8-489a-99bc-e26c45aeebcb"}, {"label": "subtasks", "start_step": 660, "end_step": 689, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block completely off the table surface and moves it upward toward the wooden peg rack."}, {"label": "subtasks", "start_step": 690, "end_step": 779, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the green peg on the wooden rack, adjusting position slightly while lowering the block to fit onto the peg."}, {"label": "subtasks", "start_step": 780, "end_step": 831, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: reach: Right hand moves downward from the upper area of the wooden block assembly toward the white hexagonal block resting on the table surface in front of the assembly, keeping fingers slightly open as it approaches the target block."}, {"label": "goal", "start_step": 781, "end_step": 850, "id": "5a537e62-13ae-4dc6-8813-a1028bb1c19c"}, {"label": "subtasks", "start_step": 832, "end_step": 854, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, making small adjustments to finger contact points to establish a stable grip on the block while the block remains on the table surface."}, {"label": "goal", "start_step": 851, "end_step": 990, "id": "312bdd0c-6198-446b-8887-7c1ee059c7be"}, {"label": "subtasks", "start_step": 855, "end_step": 891, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block completely off the table surface while moving the block upward toward the empty purple vertical rod mounted on the wooden assembly base."}, {"label": "subtasks", "start_step": 892, "end_step": 959, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: mate: Right hand adjusts the orientation and position of the held white hexagonal block to align its central hole with the top of the purple rod, fitting the block over the rod to form the assembly connection."}, {"label": "subtasks", "start_step": 960, "end_step": 989, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: place: Right hand lowers the mated white hexagonal block down along the purple rod until the block rests stably on the wooden base of the assembly, maintaining contact with the block as it settles."}, {"label": "subtasks", "start_step": 990, "end_step": 1034, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: reach: Right hand moves downward from the position above the wooden block assembly stand toward the green hexagonal block placed on the dark table surface, with fingers extended open as it approaches the target block."}, {"label": "goal", "start_step": 991, "end_step": 1054, "id": "4e5fd166-07ce-4bec-9c40-26a7e6d142a3"}, {"label": "subtasks", "start_step": 1035, "end_step": 1071, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: grasp: Right hand closes fingers around the green hexagonal block on the table, making slight adjustments to finger contact positions to establish a stable grip on the block while the block remains on the table surface."}, {"label": "goal", "start_step": 1055, "end_step": 1186, "id": "b4072359-2d2c-4ac7-8c4f-0bed106cc5b7"}, {"label": "subtasks", "start_step": 1072, "end_step": 1109, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: lift_transport: Right hand lifts the gripped green hexagonal block completely off the table surface, moves the block upward and leftward toward the wooden assembly stand, and positions the block above an empty purple peg on the stand."}, {"label": "subtasks", "start_step": 1110, "end_step": 1184, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the target purple peg, lowers the block to fit it onto the peg, and makes small positional adjustments to properly seat the block on the peg."}, {"label": "subtasks", "start_step": 1185, "end_step": 1214, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: place_release: Right hand holds the white cylindrical block, lowers it onto the green block on the wooden base, opening fingers to release the stably supported block."}, {"label": "goal", "start_step": 1187, "end_step": 1350, "id": "73a241ca-a655-4dd6-8fab-0474c940bb98"}, {"label": "subtasks", "start_step": 1215, "end_step": 1251, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: reach: Right hand moves downward with empty hand from the wooden base area toward the green block placed on the black table surface."}, {"label": "subtasks", "start_step": 1252, "end_step": 1349, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: grasp: Right hand makes contact with the green block on the table, adjusting finger and wrist positions continuously to form a stable grasp of the block."}, {"label": "subtasks", "start_step": 1350, "end_step": 1379, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: lift: Right hand holds the white hexagonal block resting on the dark table surface, lifts the block upward until it is fully separated from the table."}, {"label": "goal", "start_step": 1351, "end_step": 1626, "id": "93620067-86e0-4d54-9566-f756c519ef31"}, {"label": "subtasks", "start_step": 1380, "end_step": 1409, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: transport: Right hand carries the lifted white hexagonal block through the air, moving it toward the wooden peg base until it is positioned above the purple rod."}, {"label": "subtasks", "start_step": 1410, "end_step": 1619, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: mate: Right hand adjusts the position and orientation of the white hexagonal block, aligning its central hole with the purple rod on the wooden base to fit the block onto the rod."}, {"label": "subtasks", "start_step": 1620, "end_step": 1657, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: place_release: Right hand holds the final white cylindrical block, places it into the matching hole on the wooden base, releases the block as fingers open to separate from the block surface."}, {"label": "goal", "start_step": 1627, "end_step": 1728, "id": "e70e20f3-de91-49d0-8bc6-02d093d11ba8"}, {"label": "subtasks", "start_step": 1658, "end_step": 1694, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: reach: Right hand moves in an empty state downward toward the upper white hexagonal nut on the table, approaching the target without making physical contact."}, {"label": "subtasks", "start_step": 1695, "end_step": 1747, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: grasp: Right hand makes contact with the upper white hexagonal nut, closes fingers around the nut, and makes small adjustments to establish a stable grip."}, {"label": "goal", "start_step": 1729, "end_step": 1968, "id": "c3c81f19-5d0a-475e-9613-c5cfebef8ac2"}, {"label": "subtasks", "start_step": 1748, "end_step": 1777, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and moves it upward to the position directly above the purple rod on the stacked block assembly."}, {"label": "subtasks", "start_step": 1778, "end_step": 1957, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: mate: Right hand makes small wrist and finger adjustments to the white hexagonal block's position and orientation to align its central hole with the purple rod on the assembly base."}, {"label": "subtasks", "start_step": 1958, "end_step": 1964, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: place: Right hand lowers the aligned white hexagonal block down the purple rod until it rests stably on the top of the existing stacked blocks, maintaining contact with the block."}, {"label": "subtasks", "start_step": 1965, "end_step": 1987, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: idle: Right hand remains empty above the wooden block assembly without observable movement."}, {"label": "goal", "start_step": 1969, "end_step": 2052, "id": "6e77a4dd-3e83-48f1-b657-e937bf389213"}, {"label": "subtasks", "start_step": 1988, "end_step": 2031, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: reach: Right hand moves down and right toward the white hexagonal block on the dark table surface while remaining empty."}, {"label": "subtasks", "start_step": 2032, "end_step": 2069, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: grasp: Right hand closes its fingers around the white hexagonal block on the table to establish a stable grasp."}, {"label": "goal", "start_step": 2053, "end_step": 2218, "id": "e5e83ed6-6179-4c59-81a2-ed4f7f36e6b0"}, {"label": "subtasks", "start_step": 2070, "end_step": 2107, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block completely off the table surface and transports it upward and leftward to the position directly above the empty purple peg on the wooden stand."}, {"label": "subtasks", "start_step": 2108, "end_step": 2204, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: mate: Right hand adjusts the position and orientation of the white hexagonal block to align its central hole with the purple peg, lowering the block to fit onto the peg."}, {"label": "subtasks", "start_step": 2205, "end_step": 2227, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: release: Right hand releases the white cylindrical block on the wooden base, fingers opening to separate from the block top."}, {"label": "goal", "start_step": 2219, "end_step": 2304, "id": "07671691-64c6-47e3-95bd-f3a9b9e5974e"}, {"label": "subtasks", "start_step": 2228, "end_step": 2257, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: reach: Right hand moves downward toward the green square block placed on the black table surface."}, {"label": "subtasks", "start_step": 2258, "end_step": 2309, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: grasp: Right hand adjusts finger positions to grasp the green square block on the table surface."}, {"label": "goal", "start_step": 2305, "end_step": 2486, "id": "2084ba19-159b-4425-a1d6-2136b92bb225"}, {"label": "subtasks", "start_step": 2310, "end_step": 2354, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: lift_transport: Right hand lifts the grasped green block off the dark table surface and moves it upward to position directly above the empty target peg on the wooden block stand."}, {"label": "subtasks", "start_step": 2355, "end_step": 2459, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: mate: Right hand aligns the hollow hole of the grasped green block with the target white peg on the wooden stand, lowers the block to fit it securely onto the peg while making small positional adjustments."}, {"label": "subtasks", "start_step": 2460, "end_step": 2474, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: release: Right hand opens fingers to release the green block fitted on the peg, fully breaking contact with the block surface."}, {"label": "subtasks", "start_step": 2475, "end_step": 2489, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: retreat: Right hand moves the empty hand backward, moving away from the area of the wooden block stand."}, {"label": "home", "start_step": 2530, "end_step": 2560, "id": "q5-pj1cBnH7JUlOyWZnJk"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 37, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: idle: Right hand remains empty at the right initial position with extended fingers, without any observable movement."}, {"label": "subtasks", "start_step": 38, "end_step": 81, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: reach: Right hand moves downward and leftward toward the green hexagonal block on the table surface, with fingers adjusting slightly during movement."}, {"label": "subtasks", "start_step": 82, "end_step": 134, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: grasp: Right hand makes contact with the green hexagonal block on the table, fingers close and make slight adjustments to establish a grip on the block."}, {"label": "subtasks", "start_step": 135, "end_step": 149, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: lift: Right hand moves vertically upwards to lift the gripped green hexagonal block until the block is fully separated from the table surface."}, {"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 workspace without any observable movement. | Right hand: transport: Right hand moves the lifted green hexagonal block upwards and toward the wooden peg base to position the block over the target purple vertical peg."}, {"label": "subtasks", "start_step": 172, "end_step": 254, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the target purple peg, lowers the block onto the peg, and makes small positional adjustments to seat the block on the rod."}, {"label": "subtasks", "start_step": 255, "end_step": 299, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: reach: Right hand moves downward from the wooden peg rack toward the closest white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 300, "end_step": 434, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: grasp: Right hand contacts the white hexagonal block, closes fingers around the block, and makes slight adjustments to finger placement and block orientation to secure a stable grip."}, {"label": "subtasks", "start_step": 435, "end_step": 471, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table and moves it upward to position above the target green post on the wooden block assembly."}, {"label": "subtasks", "start_step": 472, "end_step": 524, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the target green post and lowers the nut to fit onto the post."}, {"label": "subtasks", "start_step": 525, "end_step": 561, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: mate_release: Right hand aligns the white cylindrical block with the purple vertical peg on the wooden base, mates the block onto the peg and releases the block."}, {"label": "subtasks", "start_step": 562, "end_step": 584, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: reach: Right hand moves downwards empty-handed to approach the white hexagonal block placed on the black table surface."}, {"label": "subtasks", "start_step": 585, "end_step": 659, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: grasp: Right hand adjusts finger positions and closes fingers around the white hexagonal block on the table to establish a stable grasp."}, {"label": "subtasks", "start_step": 660, "end_step": 689, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block completely off the table surface and moves it upward toward the wooden peg rack."}, {"label": "subtasks", "start_step": 690, "end_step": 779, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the green peg on the wooden rack, adjusting position slightly while lowering the block to fit onto the peg."}, {"label": "subtasks", "start_step": 780, "end_step": 831, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: reach: Right hand moves downward from the upper area of the wooden block assembly toward the white hexagonal block resting on the table surface in front of the assembly, keeping fingers slightly open as it approaches the target block."}, {"label": "subtasks", "start_step": 832, "end_step": 854, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, making small adjustments to finger contact points to establish a stable grip on the block while the block remains on the table surface."}, {"label": "subtasks", "start_step": 855, "end_step": 891, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block completely off the table surface while moving the block upward toward the empty purple vertical rod mounted on the wooden assembly base."}, {"label": "subtasks", "start_step": 892, "end_step": 959, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: mate: Right hand adjusts the orientation and position of the held white hexagonal block to align its central hole with the top of the purple rod, fitting the block over the rod to form the assembly connection."}, {"label": "subtasks", "start_step": 960, "end_step": 989, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: place: Right hand lowers the mated white hexagonal block down along the purple rod until the block rests stably on the wooden base of the assembly, maintaining contact with the block as it settles."}, {"label": "subtasks", "start_step": 990, "end_step": 1034, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: reach: Right hand moves downward from the position above the wooden block assembly stand toward the green hexagonal block placed on the dark table surface, with fingers extended open as it approaches the target block."}, {"label": "subtasks", "start_step": 1035, "end_step": 1071, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: grasp: Right hand closes fingers around the green hexagonal block on the table, making slight adjustments to finger contact positions to establish a stable grip on the block while the block remains on the table surface."}, {"label": "subtasks", "start_step": 1072, "end_step": 1109, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: lift_transport: Right hand lifts the gripped green hexagonal block completely off the table surface, moves the block upward and leftward toward the wooden assembly stand, and positions the block above an empty purple peg on the stand."}, {"label": "subtasks", "start_step": 1110, "end_step": 1184, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the target purple peg, lowers the block to fit it onto the peg, and makes small positional adjustments to properly seat the block on the peg."}, {"label": "subtasks", "start_step": 1185, "end_step": 1214, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: place_release: Right hand holds the white cylindrical block, lowers it onto the green block on the wooden base, opening fingers to release the stably supported block."}, {"label": "subtasks", "start_step": 1215, "end_step": 1251, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: reach: Right hand moves downward with empty hand from the wooden base area toward the green block placed on the black table surface."}, {"label": "subtasks", "start_step": 1252, "end_step": 1349, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: grasp: Right hand makes contact with the green block on the table, adjusting finger and wrist positions continuously to form a stable grasp of the block."}, {"label": "subtasks", "start_step": 1350, "end_step": 1379, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: lift: Right hand holds the white hexagonal block resting on the dark table surface, lifts the block upward until it is fully separated from the table."}, {"label": "subtasks", "start_step": 1380, "end_step": 1409, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: transport: Right hand carries the lifted white hexagonal block through the air, moving it toward the wooden peg base until it is positioned above the purple rod."}, {"label": "subtasks", "start_step": 1410, "end_step": 1619, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: mate: Right hand adjusts the position and orientation of the white hexagonal block, aligning its central hole with the purple rod on the wooden base to fit the block onto the rod."}, {"label": "subtasks", "start_step": 1620, "end_step": 1657, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: place_release: Right hand holds the final white cylindrical block, places it into the matching hole on the wooden base, releases the block as fingers open to separate from the block surface."}, {"label": "subtasks", "start_step": 1658, "end_step": 1694, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: reach: Right hand moves in an empty state downward toward the upper white hexagonal nut on the table, approaching the target without making physical contact."}, {"label": "subtasks", "start_step": 1695, "end_step": 1747, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: grasp: Right hand makes contact with the upper white hexagonal nut, closes fingers around the nut, and makes small adjustments to establish a stable grip."}, {"label": "subtasks", "start_step": 1748, "end_step": 1777, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and moves it upward to the position directly above the purple rod on the stacked block assembly."}, {"label": "subtasks", "start_step": 1778, "end_step": 1957, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: mate: Right hand makes small wrist and finger adjustments to the white hexagonal block's position and orientation to align its central hole with the purple rod on the assembly base."}, {"label": "subtasks", "start_step": 1958, "end_step": 1964, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: place: Right hand lowers the aligned white hexagonal block down the purple rod until it rests stably on the top of the existing stacked blocks, maintaining contact with the block."}, {"label": "subtasks", "start_step": 1965, "end_step": 1987, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: idle: Right hand remains empty above the wooden block assembly without observable movement."}, {"label": "subtasks", "start_step": 1988, "end_step": 2031, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: reach: Right hand moves down and right toward the white hexagonal block on the dark table surface while remaining empty."}, {"label": "subtasks", "start_step": 2032, "end_step": 2069, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: grasp: Right hand closes its fingers around the white hexagonal block on the table to establish a stable grasp."}, {"label": "subtasks", "start_step": 2070, "end_step": 2107, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block completely off the table surface and transports it upward and leftward to the position directly above the empty purple peg on the wooden stand."}, {"label": "subtasks", "start_step": 2108, "end_step": 2204, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: mate: Right hand adjusts the position and orientation of the white hexagonal block to align its central hole with the purple peg, lowering the block to fit onto the peg."}, {"label": "subtasks", "start_step": 2205, "end_step": 2227, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: release: Right hand releases the white cylindrical block on the wooden base, fingers opening to separate from the block top."}, {"label": "subtasks", "start_step": 2228, "end_step": 2257, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: reach: Right hand moves downward toward the green square block placed on the black table surface."}, {"label": "subtasks", "start_step": 2258, "end_step": 2309, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: grasp: Right hand adjusts finger positions to grasp the green square block on the table surface."}, {"label": "subtasks", "start_step": 2310, "end_step": 2354, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: lift_transport: Right hand lifts the grasped green block off the dark table surface and moves it upward to position directly above the empty target peg on the wooden block stand."}, {"label": "subtasks", "start_step": 2355, "end_step": 2459, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: mate: Right hand aligns the hollow hole of the grasped green block with the target white peg on the wooden stand, lowers the block to fit it securely onto the peg while making small positional adjustments."}, {"label": "subtasks", "start_step": 2460, "end_step": 2474, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: release: Right hand opens fingers to release the green block fitted on the peg, fully breaking contact with the block surface."}, {"label": "subtasks", "start_step": 2475, "end_step": 2489, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: retreat: Right hand moves the empty hand backward, moving away from the area of the wooden block stand."}], "episode_index": 14}
+{"source_uid": "af22c81346c7d21a", "num_frames": 3298, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 14, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_pose: Left hand adjusts its pose at the left side of the table, with fingers bending slightly and wrist rotating inward. | Right hand: reach: Right hand moves leftward from the right side of the table toward the green hexagonal block on the table in front of the wooden base."}, {"label": "goal", "start_step": 0, "end_step": 140, "id": "5f6d6c9d-a94f-468c-b96c-5b8d56fa2ae5"}, {"label": "valid", "start_step": 0, "end_step": 3264, "id": "FXWQ0W0RyoJHNRm1rlfMH"}, {"label": "subtasks", "start_step": 15, "end_step": 74, "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 leftward from the right side of the table toward the green hexagonal block on the table in front of the wooden base."}, {"label": "subtasks", "start_step": 75, "end_step": 97, "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 grasps the green hexagonal block on the table, with fingers closing around the block to form a stable grip."}, {"label": "subtasks", "start_step": 98, "end_step": 134, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_mate: Right hand lifts the green hexagonal block off the table and fits the block onto the leftmost purple rod of the wooden base."}, {"label": "subtasks", "start_step": 135, "end_step": 157, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cube on the table beside the wooden peg base, with fingers closing to secure the grip."}, {"label": "goal", "start_step": 141, "end_step": 434, "id": "16cad01e-4e28-440b-ae32-27a51252dee3"}, {"label": "subtasks", "start_step": 158, "end_step": 171, "id": "reasoning-language-00006", "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 green cube off the table and transports it above the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 172, "end_step": 194, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green cube onto the leftmost purple peg by aligning and lowering it into place."}, {"label": "subtasks", "start_step": 195, "end_step": 434, "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 green cube fitted on the leftmost purple peg without moving."}, {"label": "subtasks", "start_step": 435, "end_step": 457, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white cylindrical block onto the purple peg on the wooden base and releases it."}, {"label": "goal", "start_step": 435, "end_step": 608, "id": "986bec60-8a2f-4655-b047-f81c241602b7"}, {"label": "subtasks", "start_step": 458, "end_step": 494, "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 downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 495, "end_step": 517, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp_push: Right hand grasps the white hexagonal block on the table and pushes it slightly leftward."}, {"label": "subtasks", "start_step": 518, "end_step": 554, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold_release: Right hand holds the white hexagonal block on the table and releases it."}, {"label": "subtasks", "start_step": 555, "end_step": 577, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: idle: Right hand remains empty above the table without moving."}, {"label": "subtasks", "start_step": 578, "end_step": 599, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves rightward toward the green hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 600, "end_step": 621, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal nut on the table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 609, "end_step": 724, "id": "a7370962-79a2-4579-a476-e0ecbaf00618"}, {"label": "subtasks", "start_step": 622, "end_step": 644, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts and transports the white hexagonal nut from the table to the position above the upper left peg of the pegboard."}, {"label": "subtasks", "start_step": 645, "end_step": 719, "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 mates the white hexagonal nut onto the upper left peg of the pegboard by lowering and fitting it onto the peg."}, {"label": "subtasks", "start_step": 720, "end_step": 749, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white sleeve onto the leftmost purple vertical peg by pushing it upward and releases the sleeve."}, {"label": "goal", "start_step": 725, "end_step": 804, "id": "03f6d81f-9c40-471b-8cff-b3fa1f5e30d5"}, {"label": "subtasks", "start_step": 750, "end_step": 779, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal part on the black table near the bottom center."}, {"label": "subtasks", "start_step": 780, "end_step": 824, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal part on the black table near the bottom center with fingers closing around it."}, {"label": "goal", "start_step": 805, "end_step": 950, "id": "c9bdb3cb-edd0-45d3-b352-6d188567e8dc"}, {"label": "subtasks", "start_step": 825, "end_step": 847, "id": "reasoning-language-00021", "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 white hexagonal block off the table and transports it upward and rightward toward the wooden peg rack."}, {"label": "subtasks", "start_step": 848, "end_step": 944, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the front-left peg of the wooden rack by aligning the block's hole with the peg and lowering the block along the peg."}, {"label": "subtasks", "start_step": 945, "end_step": 959, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal part on the leftmost peg of the wooden base, with fingers opening from a closed position."}, {"label": "goal", "start_step": 951, "end_step": 1032, "id": "15d19d83-dad5-45c1-9240-7964710a385d"}, {"label": "subtasks", "start_step": 960, "end_step": 981, "id": "reasoning-language-00024", "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 white hexagonal part on the black table surface, with fingers kept open."}, {"label": "subtasks", "start_step": 982, "end_step": 1049, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal part on the black table surface, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 1033, "end_step": 1610, "id": "75112f75-b0fb-4f7d-85e3-b8af14c8c793"}, {"label": "subtasks", "start_step": 1050, "end_step": 1064, "id": "reasoning-language-00026", "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 white hexagonal block off the table and transports it toward the middle purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1065, "end_step": 1229, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the middle purple peg and adjusts its position to fit the block onto the peg."}, {"label": "subtasks", "start_step": 1230, "end_step": 1244, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block, which falls from the middle purple peg to the table surface."}, {"label": "subtasks", "start_step": 1245, "end_step": 1327, "id": "reasoning-language-00029", "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 white hexagonal block that fell on the table surface."}, {"label": "subtasks", "start_step": 1328, "end_step": 1341, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface, adjusting its grip with fingers."}, {"label": "subtasks", "start_step": 1342, "end_step": 1364, "id": "reasoning-language-00031", "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 white hexagonal block off the table and transports it toward the right purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1365, "end_step": 1491, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the right purple peg and adjusts its position to fit the block onto the peg."}, {"label": "subtasks", "start_step": 1492, "end_step": 1514, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block from above the right purple peg to above the middle purple peg."}, {"label": "subtasks", "start_step": 1515, "end_step": 1604, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the middle purple peg and adjusts its position to fit the block onto the peg."}, {"label": "subtasks", "start_step": 1605, "end_step": 1634, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press_release: Right hand presses down the white ring on the rightmost purple peg of the wooden base before releasing it with opening fingers."}, {"label": "goal", "start_step": 1611, "end_step": 1672, "id": "a07d3df0-7693-4c76-86d3-eef607fc8d0e"}, {"label": "subtasks", "start_step": 1635, "end_step": 1664, "id": "reasoning-language-00036", "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 green hexagonal block on the black table surface while keeping empty."}, {"label": "subtasks", "start_step": 1665, "end_step": 1679, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table with fingers closing to form a stable grip."}, {"label": "goal", "start_step": 1673, "end_step": 1798, "id": "75da9f17-06f1-4fa3-9e12-f34ca0653a30"}, {"label": "subtasks", "start_step": 1680, "end_step": 1694, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green hexagonal block upward until it fully leaves the black table surface."}, {"label": "subtasks", "start_step": 1695, "end_step": 1709, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green hexagonal block upward to the position above the middle purple peg of the wooden base."}, {"label": "subtasks", "start_step": 1710, "end_step": 1784, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the middle purple peg of the wooden base by aligning the block's hole with the peg and lowering the block."}, {"label": "subtasks", "start_step": 1785, "end_step": 1814, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand fits the white cylindrical block onto the peg of the wooden base and releases its grip."}, {"label": "goal", "start_step": 1799, "end_step": 1914, "id": "00b0c066-86b7-41be-aaa6-721235332584"}, {"label": "subtasks", "start_step": 1815, "end_step": 1844, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the dark table surface."}, {"label": "subtasks", "start_step": 1845, "end_step": 1934, "id": "reasoning-language-00043", "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 around the white hexagonal block on the dark table surface to form a stable grip."}, {"label": "goal", "start_step": 1915, "end_step": 2062, "id": "33cd1924-3c20-4515-909a-351ac9ba969a"}, {"label": "subtasks", "start_step": 1935, "end_step": 1964, "id": "reasoning-language-00044", "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 white hexagonal nut off the table and transports it upward and leftward toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1965, "end_step": 2017, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal nut with the purple rod by aligning the nut's hole with the rod and lowering it onto the rod."}, {"label": "subtasks", "start_step": 2018, "end_step": 2054, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal nut on the purple rod without moving."}, {"label": "subtasks", "start_step": 2055, "end_step": 2077, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white block on the purple rod of the wooden base, with fingers opening to separate from the block."}, {"label": "goal", "start_step": 2063, "end_step": 2160, "id": "522839af-a3a3-494d-ae39-c1bac6b6c426"}, {"label": "subtasks", "start_step": 2078, "end_step": 2114, "id": "reasoning-language-00048", "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 rightward to approach the upper white hexagonal block on the table."}, {"label": "subtasks", "start_step": 2115, "end_step": 2181, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the upper white hexagonal block on the table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 2161, "end_step": 2530, "id": "818989a0-8135-4bad-8940-8931c0f4b02e"}, {"label": "subtasks", "start_step": 2182, "end_step": 2204, "id": "reasoning-language-00050", "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 white hexagonal block from the table and transports it towards the purple rod on the wooden tray."}, {"label": "subtasks", "start_step": 2205, "end_step": 2294, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white hexagonal block onto the purple rod and releases it, making the block fall onto the table surface."}, {"label": "subtasks", "start_step": 2295, "end_step": 2339, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downwards to approach the lower white hexagonal block on the table."}, {"label": "subtasks", "start_step": 2340, "end_step": 2399, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the lower white hexagonal block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2400, "end_step": 2429, "id": "reasoning-language-00054", "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 white hexagonal block from the table and transports it towards the purple rod on the wooden tray."}, {"label": "subtasks", "start_step": 2430, "end_step": 2519, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and fits it onto the rod, adjusting the position slightly."}, {"label": "subtasks", "start_step": 2520, "end_step": 2549, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand fits the white ring onto the purple vertical peg and releases its grip on the ring."}, {"label": "goal", "start_step": 2531, "end_step": 2612, "id": "38af4299-3590-4bd6-9960-b00f7b92063f"}, {"label": "subtasks", "start_step": 2550, "end_step": 2579, "id": "reasoning-language-00057", "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 white hexagonal block on the dark table surface."}, {"label": "subtasks", "start_step": 2580, "end_step": 2624, "id": "reasoning-language-00058", "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 around the white hexagonal block on the table to establish a grasp."}, {"label": "goal", "start_step": 2613, "end_step": 2742, "id": "37e63f5e-677e-415a-882d-5ec0d4d89ba6"}, {"label": "subtasks", "start_step": 2625, "end_step": 2639, "id": "reasoning-language-00059", "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 white hollow cube from the black table and transports it upward and leftward to the top of the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2640, "end_step": 2684, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hollow cube with the purple rod by lowering it onto the rod to complete the fitting."}, {"label": "subtasks", "start_step": 2685, "end_step": 2729, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hollow cube fitted on the purple rod without moving."}, {"label": "subtasks", "start_step": 2730, "end_step": 2751, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the purple rod placed in the rightmost white bottle on the wooden rack."}, {"label": "goal", "start_step": 2743, "end_step": 2820, "id": "b9af3d83-0970-4e11-b6f7-da58858bc260"}, {"label": "subtasks", "start_step": 2752, "end_step": 2797, "id": "reasoning-language-00063", "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 rightward toward the green cubic block on the dark table surface."}, {"label": "subtasks", "start_step": 2798, "end_step": 2834, "id": "reasoning-language-00064", "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 grasp the green cubic block on the dark table surface."}, {"label": "goal", "start_step": 2821, "end_step": 3206, "id": "6e1b86bc-ac58-42ce-bc03-03553cd0c25d"}, {"label": "subtasks", "start_step": 2835, "end_step": 2871, "id": "reasoning-language-00065", "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 green hollow cubic block off the table and transports it to the position above the bottle with a purple top on the wooden rack."}, {"label": "subtasks", "start_step": 2872, "end_step": 3149, "id": "reasoning-language-00066", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green hollow cubic block with the purple top of the bottle, fits it onto the bottle, and makes slight up-and-down adjustments to the assembly position."}, {"label": "subtasks", "start_step": 3150, "end_step": 3209, "id": "reasoning-language-00067", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hollow cubic block on the top of the purple-topped bottle without moving."}, {"label": "home", "start_step": 3265, "end_step": 3297, "id": "sExCZvXT-_M26-h2E05-T"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 14, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_pose: Left hand adjusts its pose at the left side of the table, with fingers bending slightly and wrist rotating inward. | Right hand: reach: Right hand moves leftward from the right side of the table toward the green hexagonal block on the table in front of the wooden base."}, {"label": "subtasks", "start_step": 15, "end_step": 74, "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 leftward from the right side of the table toward the green hexagonal block on the table in front of the wooden base."}, {"label": "subtasks", "start_step": 75, "end_step": 97, "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 grasps the green hexagonal block on the table, with fingers closing around the block to form a stable grip."}, {"label": "subtasks", "start_step": 98, "end_step": 134, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_mate: Right hand lifts the green hexagonal block off the table and fits the block onto the leftmost purple rod of the wooden base."}, {"label": "subtasks", "start_step": 135, "end_step": 157, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cube on the table beside the wooden peg base, with fingers closing to secure the grip."}, {"label": "subtasks", "start_step": 158, "end_step": 171, "id": "reasoning-language-00006", "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 green cube off the table and transports it above the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 172, "end_step": 194, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green cube onto the leftmost purple peg by aligning and lowering it into place."}, {"label": "subtasks", "start_step": 195, "end_step": 434, "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 green cube fitted on the leftmost purple peg without moving."}, {"label": "subtasks", "start_step": 435, "end_step": 457, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white cylindrical block onto the purple peg on the wooden base and releases it."}, {"label": "subtasks", "start_step": 458, "end_step": 494, "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 downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 495, "end_step": 517, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp_push: Right hand grasps the white hexagonal block on the table and pushes it slightly leftward."}, {"label": "subtasks", "start_step": 518, "end_step": 554, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold_release: Right hand holds the white hexagonal block on the table and releases it."}, {"label": "subtasks", "start_step": 555, "end_step": 577, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: idle: Right hand remains empty above the table without moving."}, {"label": "subtasks", "start_step": 578, "end_step": 599, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves rightward toward the green hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 600, "end_step": 621, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal nut on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 622, "end_step": 644, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts and transports the white hexagonal nut from the table to the position above the upper left peg of the pegboard."}, {"label": "subtasks", "start_step": 645, "end_step": 719, "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 mates the white hexagonal nut onto the upper left peg of the pegboard by lowering and fitting it onto the peg."}, {"label": "subtasks", "start_step": 720, "end_step": 749, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white sleeve onto the leftmost purple vertical peg by pushing it upward and releases the sleeve."}, {"label": "subtasks", "start_step": 750, "end_step": 779, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal part on the black table near the bottom center."}, {"label": "subtasks", "start_step": 780, "end_step": 824, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal part on the black table near the bottom center with fingers closing around it."}, {"label": "subtasks", "start_step": 825, "end_step": 847, "id": "reasoning-language-00021", "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 white hexagonal block off the table and transports it upward and rightward toward the wooden peg rack."}, {"label": "subtasks", "start_step": 848, "end_step": 944, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the front-left peg of the wooden rack by aligning the block's hole with the peg and lowering the block along the peg."}, {"label": "subtasks", "start_step": 945, "end_step": 959, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal part on the leftmost peg of the wooden base, with fingers opening from a closed position."}, {"label": "subtasks", "start_step": 960, "end_step": 981, "id": "reasoning-language-00024", "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 white hexagonal part on the black table surface, with fingers kept open."}, {"label": "subtasks", "start_step": 982, "end_step": 1049, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal part on the black table surface, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1050, "end_step": 1064, "id": "reasoning-language-00026", "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 white hexagonal block off the table and transports it toward the middle purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1065, "end_step": 1229, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the middle purple peg and adjusts its position to fit the block onto the peg."}, {"label": "subtasks", "start_step": 1230, "end_step": 1244, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block, which falls from the middle purple peg to the table surface."}, {"label": "subtasks", "start_step": 1245, "end_step": 1327, "id": "reasoning-language-00029", "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 white hexagonal block that fell on the table surface."}, {"label": "subtasks", "start_step": 1328, "end_step": 1341, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface, adjusting its grip with fingers."}, {"label": "subtasks", "start_step": 1342, "end_step": 1364, "id": "reasoning-language-00031", "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 white hexagonal block off the table and transports it toward the right purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1365, "end_step": 1491, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the right purple peg and adjusts its position to fit the block onto the peg."}, {"label": "subtasks", "start_step": 1492, "end_step": 1514, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block from above the right purple peg to above the middle purple peg."}, {"label": "subtasks", "start_step": 1515, "end_step": 1604, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the middle purple peg and adjusts its position to fit the block onto the peg."}, {"label": "subtasks", "start_step": 1605, "end_step": 1634, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press_release: Right hand presses down the white ring on the rightmost purple peg of the wooden base before releasing it with opening fingers."}, {"label": "subtasks", "start_step": 1635, "end_step": 1664, "id": "reasoning-language-00036", "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 green hexagonal block on the black table surface while keeping empty."}, {"label": "subtasks", "start_step": 1665, "end_step": 1679, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table with fingers closing to form a stable grip."}, {"label": "subtasks", "start_step": 1680, "end_step": 1694, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green hexagonal block upward until it fully leaves the black table surface."}, {"label": "subtasks", "start_step": 1695, "end_step": 1709, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green hexagonal block upward to the position above the middle purple peg of the wooden base."}, {"label": "subtasks", "start_step": 1710, "end_step": 1784, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the middle purple peg of the wooden base by aligning the block's hole with the peg and lowering the block."}, {"label": "subtasks", "start_step": 1785, "end_step": 1814, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand fits the white cylindrical block onto the peg of the wooden base and releases its grip."}, {"label": "subtasks", "start_step": 1815, "end_step": 1844, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the dark table surface."}, {"label": "subtasks", "start_step": 1845, "end_step": 1934, "id": "reasoning-language-00043", "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 around the white hexagonal block on the dark table surface to form a stable grip."}, {"label": "subtasks", "start_step": 1935, "end_step": 1964, "id": "reasoning-language-00044", "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 white hexagonal nut off the table and transports it upward and leftward toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1965, "end_step": 2017, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal nut with the purple rod by aligning the nut's hole with the rod and lowering it onto the rod."}, {"label": "subtasks", "start_step": 2018, "end_step": 2054, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal nut on the purple rod without moving."}, {"label": "subtasks", "start_step": 2055, "end_step": 2077, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white block on the purple rod of the wooden base, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 2078, "end_step": 2114, "id": "reasoning-language-00048", "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 rightward to approach the upper white hexagonal block on the table."}, {"label": "subtasks", "start_step": 2115, "end_step": 2181, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the upper white hexagonal block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2182, "end_step": 2204, "id": "reasoning-language-00050", "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 white hexagonal block from the table and transports it towards the purple rod on the wooden tray."}, {"label": "subtasks", "start_step": 2205, "end_step": 2294, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white hexagonal block onto the purple rod and releases it, making the block fall onto the table surface."}, {"label": "subtasks", "start_step": 2295, "end_step": 2339, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downwards to approach the lower white hexagonal block on the table."}, {"label": "subtasks", "start_step": 2340, "end_step": 2399, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the lower white hexagonal block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2400, "end_step": 2429, "id": "reasoning-language-00054", "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 white hexagonal block from the table and transports it towards the purple rod on the wooden tray."}, {"label": "subtasks", "start_step": 2430, "end_step": 2519, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and fits it onto the rod, adjusting the position slightly."}, {"label": "subtasks", "start_step": 2520, "end_step": 2549, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand fits the white ring onto the purple vertical peg and releases its grip on the ring."}, {"label": "subtasks", "start_step": 2550, "end_step": 2579, "id": "reasoning-language-00057", "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 white hexagonal block on the dark table surface."}, {"label": "subtasks", "start_step": 2580, "end_step": 2624, "id": "reasoning-language-00058", "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 around the white hexagonal block on the table to establish a grasp."}, {"label": "subtasks", "start_step": 2625, "end_step": 2639, "id": "reasoning-language-00059", "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 white hollow cube from the black table and transports it upward and leftward to the top of the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2640, "end_step": 2684, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hollow cube with the purple rod by lowering it onto the rod to complete the fitting."}, {"label": "subtasks", "start_step": 2685, "end_step": 2729, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hollow cube fitted on the purple rod without moving."}, {"label": "subtasks", "start_step": 2730, "end_step": 2751, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the purple rod placed in the rightmost white bottle on the wooden rack."}, {"label": "subtasks", "start_step": 2752, "end_step": 2797, "id": "reasoning-language-00063", "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 rightward toward the green cubic block on the dark table surface."}, {"label": "subtasks", "start_step": 2798, "end_step": 2834, "id": "reasoning-language-00064", "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 grasp the green cubic block on the dark table surface."}, {"label": "subtasks", "start_step": 2835, "end_step": 2871, "id": "reasoning-language-00065", "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 green hollow cubic block off the table and transports it to the position above the bottle with a purple top on the wooden rack."}, {"label": "subtasks", "start_step": 2872, "end_step": 3149, "id": "reasoning-language-00066", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green hollow cubic block with the purple top of the bottle, fits it onto the bottle, and makes slight up-and-down adjustments to the assembly position."}, {"label": "subtasks", "start_step": 3150, "end_step": 3209, "id": "reasoning-language-00067", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hollow cubic block on the top of the purple-topped bottle without moving."}], "episode_index": 15}
+{"source_uid": "99c97c4006d70058", "num_frames": 3022, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 37, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: reach: Right hand moves forward towards the leftmost white cylindrical part on the wooden base."}, {"label": "goal", "start_step": 0, "end_step": 136, "id": "4992c32d-a6cb-4942-89b5-e697dfd6ad51"}, {"label": "valid", "start_step": 0, "end_step": 2990, "id": "GWHKSZ8QI3FS6CK0A78Fm"}, {"label": "subtasks", "start_step": 38, "end_step": 74, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the leftmost white cylindrical part on the wooden base."}, {"label": "subtasks", "start_step": 75, "end_step": 134, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: pull: Right hand pulls the grasped white cylindrical part downwards along the purple rod."}, {"label": "subtasks", "start_step": 135, "end_step": 164, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: lift: Right hand lifts the green hexagonal block from the black table surface."}, {"label": "goal", "start_step": 137, "end_step": 288, "id": "8b1b2359-6436-4381-afbd-cd8e037076c9"}, {"label": "subtasks", "start_step": 165, "end_step": 187, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: transport: Right hand transports the green hexagonal block above the leftmost peg of the wooden rack."}, {"label": "subtasks", "start_step": 188, "end_step": 284, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the leftmost peg of the wooden rack by aligning and pressing it down."}, {"label": "subtasks", "start_step": 285, "end_step": 299, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: release: Right hand releases the green hexagonal block from its grasp."}, {"label": "goal", "start_step": 289, "end_step": 344, "id": "31b95b2f-0d08-419f-94f7-ab953a5b441b"}, {"label": "subtasks", "start_step": 300, "end_step": 329, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: reach: Right hand moves downward from the wooden rack towards the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 330, "end_step": 367, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the black table."}, {"label": "goal", "start_step": 345, "end_step": 550, "id": "e9f4a55d-61df-43b1-8466-33c1e3946999"}, {"label": "subtasks", "start_step": 368, "end_step": 397, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it to the position above the target purple post on the wooden rack."}, {"label": "subtasks", "start_step": 398, "end_step": 539, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple post and fits it onto the post until it is properly placed."}, {"label": "subtasks", "start_step": 540, "end_step": 569, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: release: Right hand releases the white hexagonal block on the purple peg of the wooden base by opening fingers."}, {"label": "goal", "start_step": 551, "end_step": 636, "id": "658b2891-a170-4e91-8346-a443953fa5cb"}, {"label": "subtasks", "start_step": 570, "end_step": 599, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: reach: Right hand moves down towards the white hexagonal block on the black tabletop with empty hand."}, {"label": "subtasks", "start_step": 600, "end_step": 659, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black tabletop with fingers closing around it."}, {"label": "goal", "start_step": 637, "end_step": 812, "id": "238f5194-193b-44c7-86d2-d5371f995771"}, {"label": "subtasks", "start_step": 660, "end_step": 674, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: lift: Right hand lifts the white hexagonal block off the black table surface."}, {"label": "subtasks", "start_step": 675, "end_step": 689, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: transport: Right hand transports the white hexagonal block towards the wooden rack with purple rods."}, {"label": "subtasks", "start_step": 690, "end_step": 839, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the leftmost purple rod of the wooden rack, aligning and inserting it downwards."}, {"label": "goal", "start_step": 813, "end_step": 902, "id": "4d4769e4-d6ed-4734-b565-c3d8f611317b"}, {"label": "subtasks", "start_step": 840, "end_step": 854, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: release: Right hand releases the white cylindrical block placed on the purple rod."}, {"label": "subtasks", "start_step": 855, "end_step": 899, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: reach: Right hand reaches downward toward the white cylindrical block on the black table surface."}, {"label": "subtasks", "start_step": 900, "end_step": 921, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface."}, {"label": "goal", "start_step": 903, "end_step": 1022, "id": "8ad84dbb-cabe-4b30-8676-602851eb0737"}, {"label": "subtasks", "start_step": 922, "end_step": 944, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it towards the wooden base with vertical pegs."}, {"label": "subtasks", "start_step": 945, "end_step": 974, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand aligns the inner hole of the white hexagonal block with the target vertical peg on the wooden base."}, {"label": "subtasks", "start_step": 975, "end_step": 1019, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: place: Right hand lowers the white hexagonal block onto the target peg until it is fully seated on the base."}, {"label": "subtasks", "start_step": 1020, "end_step": 1049, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: place_release: Right hand places the white ring onto the purple rod on the wooden base and releases the ring."}, {"label": "goal", "start_step": 1023, "end_step": 1096, "id": "0c85537d-6cfd-4a3a-9926-568d2a280b5e"}, {"label": "subtasks", "start_step": 1050, "end_step": 1071, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: reach: Right hand moves downward towards the green block on the black table surface."}, {"label": "subtasks", "start_step": 1072, "end_step": 1109, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand adjusts fingers to form a stable grasp on the green block on the table."}, {"label": "goal", "start_step": 1097, "end_step": 1228, "id": "399d9908-d6c3-47a4-ac5a-58f3af167351"}, {"label": "subtasks", "start_step": 1110, "end_step": 1131, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it towards the peg on the wooden tray."}, {"label": "subtasks", "start_step": 1132, "end_step": 1184, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand aligns the green block with the target peg and inserts it down onto the peg."}, {"label": "subtasks", "start_step": 1185, "end_step": 1214, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: release: Right hand opens its fingers to release the green block."}, {"label": "subtasks", "start_step": 1215, "end_step": 1251, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: place: Right hand places the white ring onto the peg on the wooden base."}, {"label": "goal", "start_step": 1229, "end_step": 1302, "id": "b01ef7d4-9987-4cdc-8f1f-1459c5c08a81"}, {"label": "subtasks", "start_step": 1252, "end_step": 1289, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: reach: Right hand moves downward toward the white ring on the black table surface."}, {"label": "subtasks", "start_step": 1290, "end_step": 1319, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the black table."}, {"label": "goal", "start_step": 1303, "end_step": 1486, "id": "1bc45a7e-3e24-441d-8d65-9e611009fd9c"}, {"label": "subtasks", "start_step": 1320, "end_step": 1334, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it towards the wooden peg board."}, {"label": "subtasks", "start_step": 1335, "end_step": 1514, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple peg of the wooden board."}, {"label": "goal", "start_step": 1487, "end_step": 1590, "id": "45571272-dbac-40b6-b0f7-298c93258587"}, {"label": "subtasks", "start_step": 1515, "end_step": 1574, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: reach: Right hand reaches towards the upper white cylindrical sleeve placed on the black table to the right of the wooden base."}, {"label": "subtasks", "start_step": 1575, "end_step": 1589, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand grasps the upper white cylindrical sleeve on the black table."}, {"label": "subtasks", "start_step": 1590, "end_step": 1611, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp_lift: Right hand grasps the white hexagonal block on the table and lifts it off the table surface."}, {"label": "goal", "start_step": 1591, "end_step": 2114, "id": "0dbdf3b3-eaf3-48a9-ae00-9b7cc0096b83"}, {"label": "subtasks", "start_step": 1612, "end_step": 1634, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: transport: Right hand transports the white hexagonal block towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1635, "end_step": 1754, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 1755, "end_step": 2091, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: press: Right hand presses the white hexagonal block down along the purple rod until it reaches the bottom."}, {"label": "subtasks", "start_step": 2092, "end_step": 2114, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: release_retreat: Right hand releases the white hexagonal block and retreats slightly away from the rod."}, {"label": "subtasks", "start_step": 2115, "end_step": 2174, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block placed on the black table surface."}, {"label": "goal", "start_step": 2115, "end_step": 2188, "id": "f4dbdb73-88e8-4bda-a150-d221f177c99f"}, {"label": "subtasks", "start_step": 2175, "end_step": 2204, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand closes its fingers to form a stable grasp on the white hexagonal block."}, {"label": "goal", "start_step": 2189, "end_step": 2400, "id": "a2eb1e66-7ef8-4b95-9070-8ff3985f751f"}, {"label": "subtasks", "start_step": 2205, "end_step": 2241, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it to the position above the purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 2242, "end_step": 2391, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg and mates the block onto the peg by pushing it downward."}, {"label": "subtasks", "start_step": 2392, "end_step": 2399, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: release_retreat: Right hand releases the white hexagonal block and retreats upward away from the wooden rack."}, {"label": "subtasks", "start_step": 2400, "end_step": 2414, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: release: Right hand releases the white bottle on the wooden board, fingers open to separate from the bottle."}, {"label": "goal", "start_step": 2401, "end_step": 2476, "id": "ac96030c-aea7-4343-9289-7a9b5c4b5426"}, {"label": "subtasks", "start_step": 2415, "end_step": 2459, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: reach: Right hand moves downward toward the green square block on the black table surface."}, {"label": "subtasks", "start_step": 2460, "end_step": 2489, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand grasps the green square block on the table, fingers close around the block to form a stable grip."}, {"label": "goal", "start_step": 2477, "end_step": 2970, "id": "f324a625-7d2e-44f4-b22b-d0f421328a5a"}, {"label": "subtasks", "start_step": 2490, "end_step": 2519, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it towards the white bottle rack."}, {"label": "subtasks", "start_step": 2520, "end_step": 2661, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand aligns the green block with the protruding rod on the first target white bottle for assembly."}, {"label": "subtasks", "start_step": 2662, "end_step": 2797, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: lift_transport: Right hand lifts the green block from the first bottle and transports it to the second target white bottle."}, {"label": "subtasks", "start_step": 2798, "end_step": 2961, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate_press: Right hand aligns the green block with the rod on the second white bottle and presses it down to fit tightly."}, {"label": "subtasks", "start_step": 2962, "end_step": 2984, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: release_retreat: Right hand releases the green block and retreats away from the bottle rack."}, {"label": "home", "start_step": 2991, "end_step": 3021, "id": "PWflJaWly-zKt-xaPRjv2"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 37, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: reach: Right hand moves forward towards the leftmost white cylindrical part on the wooden base."}, {"label": "subtasks", "start_step": 38, "end_step": 74, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the leftmost white cylindrical part on the wooden base."}, {"label": "subtasks", "start_step": 75, "end_step": 134, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: pull: Right hand pulls the grasped white cylindrical part downwards along the purple rod."}, {"label": "subtasks", "start_step": 135, "end_step": 164, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: lift: Right hand lifts the green hexagonal block from the black table surface."}, {"label": "subtasks", "start_step": 165, "end_step": 187, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: transport: Right hand transports the green hexagonal block above the leftmost peg of the wooden rack."}, {"label": "subtasks", "start_step": 188, "end_step": 284, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the leftmost peg of the wooden rack by aligning and pressing it down."}, {"label": "subtasks", "start_step": 285, "end_step": 299, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: release: Right hand releases the green hexagonal block from its grasp."}, {"label": "subtasks", "start_step": 300, "end_step": 329, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: reach: Right hand moves downward from the wooden rack towards the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 330, "end_step": 367, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 368, "end_step": 397, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it to the position above the target purple post on the wooden rack."}, {"label": "subtasks", "start_step": 398, "end_step": 539, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple post and fits it onto the post until it is properly placed."}, {"label": "subtasks", "start_step": 540, "end_step": 569, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: release: Right hand releases the white hexagonal block on the purple peg of the wooden base by opening fingers."}, {"label": "subtasks", "start_step": 570, "end_step": 599, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: reach: Right hand moves down towards the white hexagonal block on the black tabletop with empty hand."}, {"label": "subtasks", "start_step": 600, "end_step": 659, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black tabletop with fingers closing around it."}, {"label": "subtasks", "start_step": 660, "end_step": 674, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: lift: Right hand lifts the white hexagonal block off the black table surface."}, {"label": "subtasks", "start_step": 675, "end_step": 689, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: transport: Right hand transports the white hexagonal block towards the wooden rack with purple rods."}, {"label": "subtasks", "start_step": 690, "end_step": 839, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the leftmost purple rod of the wooden rack, aligning and inserting it downwards."}, {"label": "subtasks", "start_step": 840, "end_step": 854, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: release: Right hand releases the white cylindrical block placed on the purple rod."}, {"label": "subtasks", "start_step": 855, "end_step": 899, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: reach: Right hand reaches downward toward the white cylindrical block on the black table surface."}, {"label": "subtasks", "start_step": 900, "end_step": 921, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 922, "end_step": 944, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it towards the wooden base with vertical pegs."}, {"label": "subtasks", "start_step": 945, "end_step": 974, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand aligns the inner hole of the white hexagonal block with the target vertical peg on the wooden base."}, {"label": "subtasks", "start_step": 975, "end_step": 1019, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: place: Right hand lowers the white hexagonal block onto the target peg until it is fully seated on the base."}, {"label": "subtasks", "start_step": 1020, "end_step": 1049, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: place_release: Right hand places the white ring onto the purple rod on the wooden base and releases the ring."}, {"label": "subtasks", "start_step": 1050, "end_step": 1071, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: reach: Right hand moves downward towards the green block on the black table surface."}, {"label": "subtasks", "start_step": 1072, "end_step": 1109, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand adjusts fingers to form a stable grasp on the green block on the table."}, {"label": "subtasks", "start_step": 1110, "end_step": 1131, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it towards the peg on the wooden tray."}, {"label": "subtasks", "start_step": 1132, "end_step": 1184, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand aligns the green block with the target peg and inserts it down onto the peg."}, {"label": "subtasks", "start_step": 1185, "end_step": 1214, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: release: Right hand opens its fingers to release the green block."}, {"label": "subtasks", "start_step": 1215, "end_step": 1251, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: place: Right hand places the white ring onto the peg on the wooden base."}, {"label": "subtasks", "start_step": 1252, "end_step": 1289, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: reach: Right hand moves downward toward the white ring on the black table surface."}, {"label": "subtasks", "start_step": 1290, "end_step": 1319, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 1320, "end_step": 1334, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it towards the wooden peg board."}, {"label": "subtasks", "start_step": 1335, "end_step": 1514, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple peg of the wooden board."}, {"label": "subtasks", "start_step": 1515, "end_step": 1574, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: reach: Right hand reaches towards the upper white cylindrical sleeve placed on the black table to the right of the wooden base."}, {"label": "subtasks", "start_step": 1575, "end_step": 1589, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand grasps the upper white cylindrical sleeve on the black table."}, {"label": "subtasks", "start_step": 1590, "end_step": 1611, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp_lift: Right hand grasps the white hexagonal block on the table and lifts it off the table surface."}, {"label": "subtasks", "start_step": 1612, "end_step": 1634, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: transport: Right hand transports the white hexagonal block towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1635, "end_step": 1754, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 1755, "end_step": 2091, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: press: Right hand presses the white hexagonal block down along the purple rod until it reaches the bottom."}, {"label": "subtasks", "start_step": 2092, "end_step": 2114, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: release_retreat: Right hand releases the white hexagonal block and retreats slightly away from the rod."}, {"label": "subtasks", "start_step": 2115, "end_step": 2174, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block placed on the black table surface."}, {"label": "subtasks", "start_step": 2175, "end_step": 2204, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand closes its fingers to form a stable grasp on the white hexagonal block."}, {"label": "subtasks", "start_step": 2205, "end_step": 2241, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it to the position above the purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 2242, "end_step": 2391, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg and mates the block onto the peg by pushing it downward."}, {"label": "subtasks", "start_step": 2392, "end_step": 2399, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: release_retreat: Right hand releases the white hexagonal block and retreats upward away from the wooden rack."}, {"label": "subtasks", "start_step": 2400, "end_step": 2414, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: release: Right hand releases the white bottle on the wooden board, fingers open to separate from the bottle."}, {"label": "subtasks", "start_step": 2415, "end_step": 2459, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: reach: Right hand moves downward toward the green square block on the black table surface."}, {"label": "subtasks", "start_step": 2460, "end_step": 2489, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand grasps the green square block on the table, fingers close around the block to form a stable grip."}, {"label": "subtasks", "start_step": 2490, "end_step": 2519, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it towards the white bottle rack."}, {"label": "subtasks", "start_step": 2520, "end_step": 2661, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand aligns the green block with the protruding rod on the first target white bottle for assembly."}, {"label": "subtasks", "start_step": 2662, "end_step": 2797, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: lift_transport: Right hand lifts the green block from the first bottle and transports it to the second target white bottle."}, {"label": "subtasks", "start_step": 2798, "end_step": 2961, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate_press: Right hand aligns the green block with the rod on the second white bottle and presses it down to fit tightly."}, {"label": "subtasks", "start_step": 2962, "end_step": 2984, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: release_retreat: Right hand releases the green block and retreats away from the bottle rack."}], "episode_index": 16}
+{"source_uid": "ff35c4a7e8ccf134", "num_frames": 2599, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 67, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty on the left side of the table, keeping static with no visible movement or contact with any operated object. | Right hand: reach: Right hand moves from the right initial position downward and toward the green hexagonal block placed at the front left of the wooden peg rack, staying empty without contacting the target."}, {"label": "goal", "start_step": 0, "end_step": 152, "id": "18f8b08c-73fa-41e8-a236-468c96d3bfe7"}, {"label": "valid", "start_step": 0, "end_step": 2565, "id": "iS770_CODhkuX2Xg7anCk"}, {"label": "subtasks", "start_step": 68, "end_step": 179, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty on the left side of the table, keeping static with no visible movement or contact with any operated object. | Right hand: grasp: Right hand positions fingers around the target green hexagonal block on the table, adjusting finger contact and closing gradually to establish a stable grasp, with the block remaining on the table surface."}, {"label": "goal", "start_step": 153, "end_step": 502, "id": "0d67286a-53cb-4489-a65b-5dfbc08c6c54"}, {"label": "subtasks", "start_step": 180, "end_step": 224, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty on the left side of the table, keeping static with no visible movement or contact with any operated object. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block completely off the black table surface, moving it through the air to position the block directly above the target purple peg on the wooden peg board."}, {"label": "subtasks", "start_step": 225, "end_step": 487, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty on the left side of the table, keeping static with no visible movement or contact with any operated object. | Right hand: mate: Right hand adjusts the position and orientation of the green hexagonal block to align its central hole with the target purple peg, making small fine positional adjustments while lowering the block to fit onto the peg."}, {"label": "subtasks", "start_step": 488, "end_step": 494, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty on the left side of the table, keeping static with no visible movement or contact with any operated object. | Right hand: place: Right hand lowers the green hexagonal block fully onto the wooden peg board surface until the block is stably supported by the board, maintaining grip on the block."}, {"label": "subtasks", "start_step": 495, "end_step": 524, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty on the left side of the table, keeping static with no visible movement or contact with any operated object. | Right hand: place_release: Right hand lowers the white cylindrical block onto the purple peg of the wooden base to rest on the green block below, and releases the block."}, {"label": "goal", "start_step": 503, "end_step": 578, "id": "3e06754d-c658-48c0-91cf-cf0a99869e0b"}, {"label": "subtasks", "start_step": 525, "end_step": 547, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty on the left side of the table, keeping static with no visible movement or contact with any operated object. | Right hand: reach: Right hand moves downward through empty space toward the white hexagonal nut placed on the black table surface."}, {"label": "subtasks", "start_step": 548, "end_step": 599, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty on the left side of the table, keeping static with no visible movement or contact with any operated object. | Right hand: grasp: Right hand brings fingers into contact with the white hexagonal nut, closing fingers and making small positional adjustments to form a grasp."}, {"label": "goal", "start_step": 579, "end_step": 706, "id": "9bd775c4-bda4-4725-a30d-826080eaa586"}, {"label": "subtasks", "start_step": 600, "end_step": 621, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty on the left side of the table, keeping static with no visible movement or contact with any operated object. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the table surface and transports it upward to the position above the purple rod on the wooden assembly block."}, {"label": "subtasks", "start_step": 622, "end_step": 704, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty on the left side of the table, keeping static with no visible movement or contact with any operated object. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple rod on the wooden block, lowers the nut to fit onto the rod, and makes slight positional adjustments to seat the nut properly."}, {"label": "subtasks", "start_step": 705, "end_step": 757, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty on the left side of the table, keeping static with no visible movement or contact with any operated object. | Right hand: reach: Right hand moves downward from the position above the wooden block rack toward the white hexagonal nut on the black table, staying empty before contacting the target nut."}, {"label": "goal", "start_step": 707, "end_step": 792, "id": "921d2850-adb5-4736-9c3e-d3686d3500b0"}, {"label": "subtasks", "start_step": 758, "end_step": 809, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty on the left side of the table, keeping static with no visible movement or contact with any operated object. | Right hand: grasp: Right hand closes fingers around the target white hexagonal nut on the table, adjusting finger contact points to establish a grip on the nut."}, {"label": "goal", "start_step": 793, "end_step": 958, "id": "803fad70-0ecb-4d59-b53c-165bf69d0fac"}, {"label": "subtasks", "start_step": 810, "end_step": 839, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty on the left side of the table, keeping static with no visible movement or contact with any operated object. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block clear of the table surface and moves it upward through the air to position above an empty purple peg mounted on the wooden base."}, {"label": "subtasks", "start_step": 840, "end_step": 944, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty on the left side of the table, keeping static with no visible movement or contact with any operated object. | Right hand: mate: Right hand makes small positional and rotational adjustments to the grasped white hexagonal block to align its central hole with the target purple peg, guiding the block downward to fit onto the peg."}, {"label": "subtasks", "start_step": 945, "end_step": 974, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty on the left side of the table, keeping static with no visible movement or contact with any operated object. | Right hand: place_release: Right hand holds the white hexagonal block, moves it downward to seat it on the purple peg of the wooden assembly base, releasing the block once it rests stably on the peg."}, {"label": "goal", "start_step": 959, "end_step": 1026, "id": "4c626bf7-8a6f-4667-acd8-a8101706f8f9"}, {"label": "subtasks", "start_step": 975, "end_step": 1019, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty on the left side of the table, keeping static with no visible movement or contact with any operated object. | Right hand: reach: Right hand moves while empty downward toward the white hexagonal block resting on the black table surface in front of the wooden assembly base."}, {"label": "subtasks", "start_step": 1020, "end_step": 1049, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty on the left side of the table, keeping static with no visible movement or contact with any operated object. | Right hand: grasp: Right hand adjusts finger positions to close around and form a stable grasp on the white hexagonal nut resting on the black table surface."}, {"label": "goal", "start_step": 1027, "end_step": 1214, "id": "9a950ad2-eac5-4c22-bde4-c34f681cb779"}, {"label": "subtasks", "start_step": 1050, "end_step": 1079, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty on the left side of the table, keeping static with no visible movement or contact with any operated object. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward to position directly above the purple plastic rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 1080, "end_step": 1214, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty on the left side of the table, keeping static with no visible movement or contact with any operated object. | Right hand: mate_release: Right hand aligns the white hexagonal nut with the purple plastic rod, lowers the nut to nest securely onto the rod with minor position adjustments, and opens fingers to release contact with the assembled nut."}, {"label": "subtasks", "start_step": 1215, "end_step": 1251, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty on the left side of the table, keeping static with no visible movement or contact with any operated object. | Right hand: reach: Right hand moves downward from the upper assembly area toward the green hexagonal block on the black table surface with fingers slightly open."}, {"label": "goal", "start_step": 1215, "end_step": 1284, "id": "5a148e16-9c86-4bba-af3b-71b2885ec8f6"}, {"label": "subtasks", "start_step": 1252, "end_step": 1297, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty on the left side of the table, keeping static with no visible movement or contact with any operated object. | Right hand: grasp: Right hand closes fingers around the green hexagonal block resting on the table, making small adjustments to finger positions to form a stable grip, with the block still supported by the table."}, {"label": "goal", "start_step": 1285, "end_step": 1434, "id": "a0c7503f-bf13-44a3-9350-e98c7a1a0c0c"}, {"label": "subtasks", "start_step": 1298, "end_step": 1341, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty on the left side of the table, keeping static with no visible movement or contact with any operated object. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block off the table surface and transports it upward to position it above the target purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 1342, "end_step": 1424, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty on the left side of the table, keeping static with no visible movement or contact with any operated object. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the target purple rod, lowers the block to fit it onto the rod, and makes small positional adjustments during the assembly motion."}, {"label": "subtasks", "start_step": 1425, "end_step": 1461, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty on the left side of the table, keeping static with no visible movement or contact with any operated object. | Right hand: place_release: Right hand places the green hexagonal block onto the purple peg of the wooden assembly base and releases its grip on the block."}, {"label": "goal", "start_step": 1435, "end_step": 1506, "id": "a4885ddd-fc16-4e27-bfbd-409979e1f7ca"}, {"label": "subtasks", "start_step": 1462, "end_step": 1499, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty on the left side of the table, keeping static with no visible movement or contact with any operated object. | Right hand: reach: Right hand moves downward toward the green hexagonal block resting on the dark table surface."}, {"label": "subtasks", "start_step": 1500, "end_step": 1521, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty on the left side of the table, keeping static with no visible movement or contact with any operated object. | Right hand: grasp: Right hand adjusts its fingers around the white hexagonal nut on the table to form a stable grip."}, {"label": "goal", "start_step": 1507, "end_step": 1882, "id": "446c9fba-bc96-401e-8309-3c86b4729cc0"}, {"label": "subtasks", "start_step": 1522, "end_step": 1551, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty on the left side of the table, keeping static with no visible movement or contact with any operated object. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it to the position directly above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1552, "end_step": 1874, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty on the left side of the table, keeping static with no visible movement or contact with any operated object. | Right hand: mate: Right hand makes small wrist and finger adjustments to align the white hexagonal nut with the purple rod, moving the nut downward to fit onto the rod."}, {"label": "subtasks", "start_step": 1875, "end_step": 1927, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty on the left side of the table, keeping static with no visible movement or contact with any operated object. | Right hand: reach: Right hand moves downward and rightward from the wooden block assembly area toward the nearest white hexagonal nut on the table, with fingers slightly open."}, {"label": "goal", "start_step": 1883, "end_step": 1942, "id": "7e5b7584-4cee-4cae-a412-16f79876a158"}, {"label": "subtasks", "start_step": 1928, "end_step": 1957, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty on the left side of the table, keeping static with no visible movement or contact with any operated object. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table to establish a stable grip, with the nut remaining on the table surface."}, {"label": "goal", "start_step": 1943, "end_step": 2088, "id": "cad2522c-31ab-4dd2-85e4-8b0d72a5eb24"}, {"label": "subtasks", "start_step": 1958, "end_step": 1994, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty on the left side of the table, keeping static with no visible movement or contact with any operated object. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward and leftward toward the purple vertical rod on the wooden block assembly."}, {"label": "subtasks", "start_step": 1995, "end_step": 2054, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty on the left side of the table, keeping static with no visible movement or contact with any operated object. | Right hand: mate: Right hand aligns the central hole of the grasped white hexagonal nut with the purple vertical rod, fitting the nut onto the rod."}, {"label": "subtasks", "start_step": 2055, "end_step": 2084, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty on the left side of the table, keeping static with no visible movement or contact with any operated object. | Right hand: place_release: Right hand lowers the white hexagonal nut down the purple vertical rod until the nut rests on the wooden base, with fingers opening to release the grip on the nut."}, {"label": "subtasks", "start_step": 2085, "end_step": 2091, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty on the left side of the table, keeping static with no visible movement or contact with any operated object. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the dark table surface with fingers slightly open."}, {"label": "goal", "start_step": 2089, "end_step": 2146, "id": "2077b73d-8a35-4460-bd40-480aa3c4d0da"}, {"label": "subtasks", "start_step": 2092, "end_step": 2099, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty on the left side of the table, keeping static with no visible movement or contact with any operated object. | Right hand: retreat: Right hand moves slightly upward away from the assembled white hexagonal nut, with the hand empty."}, {"label": "subtasks", "start_step": 2100, "end_step": 2121, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty on the left side of the table, keeping static with no visible movement or contact with any operated object. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the dark table surface with fingers slightly open."}, {"label": "subtasks", "start_step": 2122, "end_step": 2159, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty on the left side of the table, keeping static with no visible movement or contact with any operated object. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table to form a stable grip."}, {"label": "goal", "start_step": 2147, "end_step": 2304, "id": "afb21e69-38dc-438b-8eba-e8c7e3c51290"}, {"label": "subtasks", "start_step": 2160, "end_step": 2174, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty on the left side of the table, keeping static with no visible movement or contact with any operated object. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward off the table surface."}, {"label": "subtasks", "start_step": 2175, "end_step": 2204, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty on the left side of the table, keeping static with no visible movement or contact with any operated object. | Right hand: transport: Right hand moves the grasped white hexagonal block upward and leftward to the position directly above the purple peg on the wooden block base."}, {"label": "subtasks", "start_step": 2205, "end_step": 2279, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty on the left side of the table, keeping static with no visible movement or contact with any operated object. | Right hand: mate: Right hand aligns the hole of the white hexagonal block with the purple peg and lowers the block to fit it onto the peg, completing the nested assembly."}, {"label": "subtasks", "start_step": 2280, "end_step": 2294, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty on the left side of the table, keeping static with no visible movement or contact with any operated object. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple peg without moving."}, {"label": "subtasks", "start_step": 2295, "end_step": 2317, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty on the left side of the table, keeping static with no visible movement or contact with any operated object. | Right hand: press: Right hand presses the raised purple pump top of the white bottle on the wooden rack vertically downward until the pump is fully depressed."}, {"label": "goal", "start_step": 2305, "end_step": 2364, "id": "d729394c-3ddb-4291-acb5-dd124666a3c4"}, {"label": "subtasks", "start_step": 2318, "end_step": 2347, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty on the left side of the table, keeping static with no visible movement or contact with any operated object. | Right hand: reach: Right hand moves empty downward from the bottle rack area toward the green cubic block resting on the table surface, approaching the block."}, {"label": "subtasks", "start_step": 2348, "end_step": 2369, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty on the left side of the table, keeping static with no visible movement or contact with any operated object. | Right hand: grasp: Right hand closes fingers around the green cubic block on the table to establish a stable grasp, with the block remaining on the table surface."}, {"label": "goal", "start_step": 2365, "end_step": 2516, "id": "8aa5fbb7-7fb9-486b-afb8-6df5844842ed"}, {"label": "subtasks", "start_step": 2370, "end_step": 2384, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty on the left side of the table, keeping static with no visible movement or contact with any operated object. | Right hand: lift: Right hand lifts the grasped green cubic block vertically upward until the block is fully separated from the table surface."}, {"label": "subtasks", "start_step": 2385, "end_step": 2414, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty on the left side of the table, keeping static with no visible movement or contact with any operated object. | Right hand: transport: Right hand carries the grasped green cubic block upward and leftward to the position directly above the pressed purple pump top on the white bottle."}, {"label": "subtasks", "start_step": 2415, "end_step": 2437, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty on the left side of the table, keeping static with no visible movement or contact with any operated object. | Right hand: place: Right hand lowers the green cubic block vertically downward onto the purple pump top until the block is stably supported by the bottle top."}, {"label": "subtasks", "start_step": 2438, "end_step": 2497, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty on the left side of the table, keeping static with no visible movement or contact with any operated object. | Right hand: hold: Right hand holds the green cubic block seated on the purple pump top without any visible movement of the hand or block."}, {"label": "subtasks", "start_step": 2498, "end_step": 2519, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty on the left side of the table, keeping static with no visible movement or contact with any operated object. | Right hand: release: Right hand opens fingers to release the green cubic block on the bottle top, fully separating the hand from the block."}, {"label": "home", "start_step": 2566, "end_step": 2598, "id": "Yx9JLr_z_90YFNMUrmwff"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 67, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty on the left side of the table, keeping static with no visible movement or contact with any operated object. | Right hand: reach: Right hand moves from the right initial position downward and toward the green hexagonal block placed at the front left of the wooden peg rack, staying empty without contacting the target."}, {"label": "subtasks", "start_step": 68, "end_step": 179, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty on the left side of the table, keeping static with no visible movement or contact with any operated object. | Right hand: grasp: Right hand positions fingers around the target green hexagonal block on the table, adjusting finger contact and closing gradually to establish a stable grasp, with the block remaining on the table surface."}, {"label": "subtasks", "start_step": 180, "end_step": 224, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty on the left side of the table, keeping static with no visible movement or contact with any operated object. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block completely off the black table surface, moving it through the air to position the block directly above the target purple peg on the wooden peg board."}, {"label": "subtasks", "start_step": 225, "end_step": 487, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty on the left side of the table, keeping static with no visible movement or contact with any operated object. | Right hand: mate: Right hand adjusts the position and orientation of the green hexagonal block to align its central hole with the target purple peg, making small fine positional adjustments while lowering the block to fit onto the peg."}, {"label": "subtasks", "start_step": 488, "end_step": 494, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty on the left side of the table, keeping static with no visible movement or contact with any operated object. | Right hand: place: Right hand lowers the green hexagonal block fully onto the wooden peg board surface until the block is stably supported by the board, maintaining grip on the block."}, {"label": "subtasks", "start_step": 495, "end_step": 524, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty on the left side of the table, keeping static with no visible movement or contact with any operated object. | Right hand: place_release: Right hand lowers the white cylindrical block onto the purple peg of the wooden base to rest on the green block below, and releases the block."}, {"label": "subtasks", "start_step": 525, "end_step": 547, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty on the left side of the table, keeping static with no visible movement or contact with any operated object. | Right hand: reach: Right hand moves downward through empty space toward the white hexagonal nut placed on the black table surface."}, {"label": "subtasks", "start_step": 548, "end_step": 599, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty on the left side of the table, keeping static with no visible movement or contact with any operated object. | Right hand: grasp: Right hand brings fingers into contact with the white hexagonal nut, closing fingers and making small positional adjustments to form a grasp."}, {"label": "subtasks", "start_step": 600, "end_step": 621, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty on the left side of the table, keeping static with no visible movement or contact with any operated object. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the table surface and transports it upward to the position above the purple rod on the wooden assembly block."}, {"label": "subtasks", "start_step": 622, "end_step": 704, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty on the left side of the table, keeping static with no visible movement or contact with any operated object. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple rod on the wooden block, lowers the nut to fit onto the rod, and makes slight positional adjustments to seat the nut properly."}, {"label": "subtasks", "start_step": 705, "end_step": 757, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty on the left side of the table, keeping static with no visible movement or contact with any operated object. | Right hand: reach: Right hand moves downward from the position above the wooden block rack toward the white hexagonal nut on the black table, staying empty before contacting the target nut."}, {"label": "subtasks", "start_step": 758, "end_step": 809, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty on the left side of the table, keeping static with no visible movement or contact with any operated object. | Right hand: grasp: Right hand closes fingers around the target white hexagonal nut on the table, adjusting finger contact points to establish a grip on the nut."}, {"label": "subtasks", "start_step": 810, "end_step": 839, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty on the left side of the table, keeping static with no visible movement or contact with any operated object. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block clear of the table surface and moves it upward through the air to position above an empty purple peg mounted on the wooden base."}, {"label": "subtasks", "start_step": 840, "end_step": 944, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty on the left side of the table, keeping static with no visible movement or contact with any operated object. | Right hand: mate: Right hand makes small positional and rotational adjustments to the grasped white hexagonal block to align its central hole with the target purple peg, guiding the block downward to fit onto the peg."}, {"label": "subtasks", "start_step": 945, "end_step": 974, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty on the left side of the table, keeping static with no visible movement or contact with any operated object. | Right hand: place_release: Right hand holds the white hexagonal block, moves it downward to seat it on the purple peg of the wooden assembly base, releasing the block once it rests stably on the peg."}, {"label": "subtasks", "start_step": 975, "end_step": 1019, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty on the left side of the table, keeping static with no visible movement or contact with any operated object. | Right hand: reach: Right hand moves while empty downward toward the white hexagonal block resting on the black table surface in front of the wooden assembly base."}, {"label": "subtasks", "start_step": 1020, "end_step": 1049, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty on the left side of the table, keeping static with no visible movement or contact with any operated object. | Right hand: grasp: Right hand adjusts finger positions to close around and form a stable grasp on the white hexagonal nut resting on the black table surface."}, {"label": "subtasks", "start_step": 1050, "end_step": 1079, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty on the left side of the table, keeping static with no visible movement or contact with any operated object. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward to position directly above the purple plastic rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 1080, "end_step": 1214, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty on the left side of the table, keeping static with no visible movement or contact with any operated object. | Right hand: mate_release: Right hand aligns the white hexagonal nut with the purple plastic rod, lowers the nut to nest securely onto the rod with minor position adjustments, and opens fingers to release contact with the assembled nut."}, {"label": "subtasks", "start_step": 1215, "end_step": 1251, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty on the left side of the table, keeping static with no visible movement or contact with any operated object. | Right hand: reach: Right hand moves downward from the upper assembly area toward the green hexagonal block on the black table surface with fingers slightly open."}, {"label": "subtasks", "start_step": 1252, "end_step": 1297, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty on the left side of the table, keeping static with no visible movement or contact with any operated object. | Right hand: grasp: Right hand closes fingers around the green hexagonal block resting on the table, making small adjustments to finger positions to form a stable grip, with the block still supported by the table."}, {"label": "subtasks", "start_step": 1298, "end_step": 1341, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty on the left side of the table, keeping static with no visible movement or contact with any operated object. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block off the table surface and transports it upward to position it above the target purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 1342, "end_step": 1424, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty on the left side of the table, keeping static with no visible movement or contact with any operated object. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the target purple rod, lowers the block to fit it onto the rod, and makes small positional adjustments during the assembly motion."}, {"label": "subtasks", "start_step": 1425, "end_step": 1461, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty on the left side of the table, keeping static with no visible movement or contact with any operated object. | Right hand: place_release: Right hand places the green hexagonal block onto the purple peg of the wooden assembly base and releases its grip on the block."}, {"label": "subtasks", "start_step": 1462, "end_step": 1499, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty on the left side of the table, keeping static with no visible movement or contact with any operated object. | Right hand: reach: Right hand moves downward toward the green hexagonal block resting on the dark table surface."}, {"label": "subtasks", "start_step": 1500, "end_step": 1521, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty on the left side of the table, keeping static with no visible movement or contact with any operated object. | Right hand: grasp: Right hand adjusts its fingers around the white hexagonal nut on the table to form a stable grip."}, {"label": "subtasks", "start_step": 1522, "end_step": 1551, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty on the left side of the table, keeping static with no visible movement or contact with any operated object. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it to the position directly above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1552, "end_step": 1874, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty on the left side of the table, keeping static with no visible movement or contact with any operated object. | Right hand: mate: Right hand makes small wrist and finger adjustments to align the white hexagonal nut with the purple rod, moving the nut downward to fit onto the rod."}, {"label": "subtasks", "start_step": 1875, "end_step": 1927, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty on the left side of the table, keeping static with no visible movement or contact with any operated object. | Right hand: reach: Right hand moves downward and rightward from the wooden block assembly area toward the nearest white hexagonal nut on the table, with fingers slightly open."}, {"label": "subtasks", "start_step": 1928, "end_step": 1957, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty on the left side of the table, keeping static with no visible movement or contact with any operated object. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table to establish a stable grip, with the nut remaining on the table surface."}, {"label": "subtasks", "start_step": 1958, "end_step": 1994, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty on the left side of the table, keeping static with no visible movement or contact with any operated object. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward and leftward toward the purple vertical rod on the wooden block assembly."}, {"label": "subtasks", "start_step": 1995, "end_step": 2054, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty on the left side of the table, keeping static with no visible movement or contact with any operated object. | Right hand: mate: Right hand aligns the central hole of the grasped white hexagonal nut with the purple vertical rod, fitting the nut onto the rod."}, {"label": "subtasks", "start_step": 2055, "end_step": 2084, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty on the left side of the table, keeping static with no visible movement or contact with any operated object. | Right hand: place_release: Right hand lowers the white hexagonal nut down the purple vertical rod until the nut rests on the wooden base, with fingers opening to release the grip on the nut."}, {"label": "subtasks", "start_step": 2085, "end_step": 2091, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty on the left side of the table, keeping static with no visible movement or contact with any operated object. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the dark table surface with fingers slightly open."}, {"label": "subtasks", "start_step": 2092, "end_step": 2099, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty on the left side of the table, keeping static with no visible movement or contact with any operated object. | Right hand: retreat: Right hand moves slightly upward away from the assembled white hexagonal nut, with the hand empty."}, {"label": "subtasks", "start_step": 2100, "end_step": 2121, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty on the left side of the table, keeping static with no visible movement or contact with any operated object. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the dark table surface with fingers slightly open."}, {"label": "subtasks", "start_step": 2122, "end_step": 2159, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty on the left side of the table, keeping static with no visible movement or contact with any operated object. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table to form a stable grip."}, {"label": "subtasks", "start_step": 2160, "end_step": 2174, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty on the left side of the table, keeping static with no visible movement or contact with any operated object. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward off the table surface."}, {"label": "subtasks", "start_step": 2175, "end_step": 2204, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty on the left side of the table, keeping static with no visible movement or contact with any operated object. | Right hand: transport: Right hand moves the grasped white hexagonal block upward and leftward to the position directly above the purple peg on the wooden block base."}, {"label": "subtasks", "start_step": 2205, "end_step": 2279, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty on the left side of the table, keeping static with no visible movement or contact with any operated object. | Right hand: mate: Right hand aligns the hole of the white hexagonal block with the purple peg and lowers the block to fit it onto the peg, completing the nested assembly."}, {"label": "subtasks", "start_step": 2280, "end_step": 2294, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty on the left side of the table, keeping static with no visible movement or contact with any operated object. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple peg without moving."}, {"label": "subtasks", "start_step": 2295, "end_step": 2317, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty on the left side of the table, keeping static with no visible movement or contact with any operated object. | Right hand: press: Right hand presses the raised purple pump top of the white bottle on the wooden rack vertically downward until the pump is fully depressed."}, {"label": "subtasks", "start_step": 2318, "end_step": 2347, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty on the left side of the table, keeping static with no visible movement or contact with any operated object. | Right hand: reach: Right hand moves empty downward from the bottle rack area toward the green cubic block resting on the table surface, approaching the block."}, {"label": "subtasks", "start_step": 2348, "end_step": 2369, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty on the left side of the table, keeping static with no visible movement or contact with any operated object. | Right hand: grasp: Right hand closes fingers around the green cubic block on the table to establish a stable grasp, with the block remaining on the table surface."}, {"label": "subtasks", "start_step": 2370, "end_step": 2384, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty on the left side of the table, keeping static with no visible movement or contact with any operated object. | Right hand: lift: Right hand lifts the grasped green cubic block vertically upward until the block is fully separated from the table surface."}, {"label": "subtasks", "start_step": 2385, "end_step": 2414, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty on the left side of the table, keeping static with no visible movement or contact with any operated object. | Right hand: transport: Right hand carries the grasped green cubic block upward and leftward to the position directly above the pressed purple pump top on the white bottle."}, {"label": "subtasks", "start_step": 2415, "end_step": 2437, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty on the left side of the table, keeping static with no visible movement or contact with any operated object. | Right hand: place: Right hand lowers the green cubic block vertically downward onto the purple pump top until the block is stably supported by the bottle top."}, {"label": "subtasks", "start_step": 2438, "end_step": 2497, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty on the left side of the table, keeping static with no visible movement or contact with any operated object. | Right hand: hold: Right hand holds the green cubic block seated on the purple pump top without any visible movement of the hand or block."}, {"label": "subtasks", "start_step": 2498, "end_step": 2519, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty on the left side of the table, keeping static with no visible movement or contact with any operated object. | Right hand: release: Right hand opens fingers to release the green cubic block on the bottle top, fully separating the hand from the block."}], "episode_index": 17}
+{"source_uid": "4dcee1348c762586", "num_frames": 2349, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "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 workspace without moving. | Right hand: reach: Right hand moves leftward and downward from the right side of the workspace toward the green hexagonal block in front of the wooden base, with fingers open."}, {"label": "goal", "start_step": 0, "end_step": 154, "id": "e4c5d360-b565-4467-a675-95d54684bf6a"}, {"label": "valid", "start_step": 0, "end_step": 2314, "id": "BGOreXg5zh0IlbSnDhuQw"}, {"label": "subtasks", "start_step": 98, "end_step": 171, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green hexagonal block on the table, with slight finger adjustments to stabilize the grip."}, {"label": "goal", "start_step": 155, "end_step": 278, "id": "1a49673b-401c-464a-a7cf-4c379280b838"}, {"label": "subtasks", "start_step": 172, "end_step": 187, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it towards the wooden rack with purple pegs."}, {"label": "subtasks", "start_step": 188, "end_step": 231, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the leftmost purple peg on the wooden rack and fits it onto the peg."}, {"label": "subtasks", "start_step": 232, "end_step": 269, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: hold: Right hand holds the green hexagonal block fitted on the leftmost purple peg without moving."}, {"label": "subtasks", "start_step": 270, "end_step": 299, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: place_release: Right hand places the white hexagonal block onto the left front peg of the pegboard and releases the block."}, {"label": "goal", "start_step": 279, "end_step": 356, "id": "f19a5dec-be50-47e1-84e4-49230abbba56"}, {"label": "subtasks", "start_step": 300, "end_step": 329, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves downward from the pegboard toward the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 330, "end_step": 374, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table surface with fingers closing around it."}, {"label": "goal", "start_step": 357, "end_step": 518, "id": "e0a5be76-adb4-486f-a08c-e8b526babf6d"}, {"label": "subtasks", "start_step": 375, "end_step": 397, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal object off the tabletop and transports it to the top of the leftmost purple peg."}, {"label": "subtasks", "start_step": 398, "end_step": 479, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand mates the white hexagonal object onto the leftmost purple peg, lowering it along the peg until it reaches the green base."}, {"label": "subtasks", "start_step": 480, "end_step": 509, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: hold: Right hand holds the white hexagonal object on the leftmost purple peg without moving."}, {"label": "subtasks", "start_step": 510, "end_step": 524, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: press: Right hand presses the white cylindrical piece onto the purple post on the wooden assembly board."}, {"label": "goal", "start_step": 519, "end_step": 588, "id": "65f2f8b9-5163-4ac6-b90c-302beefac3b3"}, {"label": "subtasks", "start_step": 525, "end_step": 547, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table, keeping empty and not touching the block."}, {"label": "subtasks", "start_step": 548, "end_step": 607, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 589, "end_step": 708, "id": "f2b5abe9-e6cd-46b3-b67b-33be9785e644"}, {"label": "subtasks", "start_step": 608, "end_step": 621, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal piece off the table and moves it toward the leftmost peg on the wooden base."}, {"label": "subtasks", "start_step": 622, "end_step": 681, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand aligns the white hexagonal piece with the leftmost peg and lowers it to nest the piece onto the peg."}, {"label": "subtasks", "start_step": 682, "end_step": 697, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: release: Right hand opens its fingers to release the white hexagonal piece, separating from the piece."}, {"label": "subtasks", "start_step": 698, "end_step": 704, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: idle: Right hand remains empty above the leftmost peg without moving."}, {"label": "subtasks", "start_step": 705, "end_step": 764, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves downward to approach the white hexagonal ring on the table in front of the wooden peg base."}, {"label": "goal", "start_step": 709, "end_step": 776, "id": "b2f8437f-0e62-4f57-86f9-0078bd06ad18"}, {"label": "subtasks", "start_step": 765, "end_step": 794, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal ring on the table, with slight grip adjustment."}, {"label": "goal", "start_step": 777, "end_step": 908, "id": "d84ec979-3c20-4df1-be25-929d318f1b04"}, {"label": "subtasks", "start_step": 795, "end_step": 817, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal ring off the table and transports it upward to the position above the middle purple peg."}, {"label": "subtasks", "start_step": 818, "end_step": 877, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand aligns the white hexagonal ring with the middle purple peg and lowers it onto the peg to complete the fitting."}, {"label": "subtasks", "start_step": 878, "end_step": 899, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: release: Right hand opens its fingers to release the white hexagonal ring fitted on the middle purple peg."}, {"label": "subtasks", "start_step": 900, "end_step": 929, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand mates the white cylindrical piece with the purple peg on the wooden base."}, {"label": "goal", "start_step": 909, "end_step": 979, "id": "d79a2c65-7422-4226-b189-42bcec8df1d0"}, {"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 workspace without moving. | Right hand: reach: Right hand reaches downward toward the green hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 952, "end_step": 989, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table surface with fingers closing."}, {"label": "goal", "start_step": 980, "end_step": 1207, "id": "8b83fd61-b6a8-48f3-b1ad-cf6952c016a9"}, {"label": "subtasks", "start_step": 990, "end_step": 1027, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table and transports it above the wooden peg board."}, {"label": "subtasks", "start_step": 1028, "end_step": 1079, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the middle peg on the wooden board and fits it onto the peg."}, {"label": "subtasks", "start_step": 1080, "end_step": 1199, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: hold: Right hand holds the green hexagonal block on the middle peg of the wooden board without moving."}, {"label": "subtasks", "start_step": 1200, "end_step": 1229, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate_release: Right hand mates the green hexagonal block onto the middle vertical peg of the wooden base and releases the block."}, {"label": "goal", "start_step": 1208, "end_step": 1279, "id": "f0a9a77a-5140-4ed5-8c42-f55dbfe3e839"}, {"label": "subtasks", "start_step": 1230, "end_step": 1259, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the dark table surface."}, {"label": "subtasks", "start_step": 1260, "end_step": 1297, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the dark table surface with fingers closing around it."}, {"label": "goal", "start_step": 1280, "end_step": 1411, "id": "95f4a258-d626-48fd-8bd5-d50d19ebacd4"}, {"label": "subtasks", "start_step": 1298, "end_step": 1319, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it upward and leftward to the position above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1320, "end_step": 1357, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand aligns the hole of the white hexagonal block with the purple peg and inserts it downward onto the peg to complete the assembly."}, {"label": "subtasks", "start_step": 1358, "end_step": 1409, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple peg without moving."}, {"label": "subtasks", "start_step": 1410, "end_step": 1447, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves downward from the block assembly area toward the upper white hexagonal block on the black table."}, {"label": "goal", "start_step": 1412, "end_step": 1469, "id": "8779f629-b9c6-48fb-8803-bb8a04e82743"}, {"label": "subtasks", "start_step": 1448, "end_step": 1469, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand grasps the upper white hexagonal block on the black table, with fingers closing around the block."}, {"label": "subtasks", "start_step": 1470, "end_step": 1544, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: hold: Right hand holds the upper white hexagonal block on the black table without moving."}, {"label": "goal", "start_step": 1470, "end_step": 1675, "id": "15d96687-107c-4dfe-b893-306ec829fb6e"}, {"label": "subtasks", "start_step": 1545, "end_step": 1559, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift: Right hand lifts the upper white hexagonal block up from the black table surface."}, {"label": "subtasks", "start_step": 1560, "end_step": 1604, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: transport: Right hand transports the white hexagonal block upward and leftward to the top of the purple rod."}, {"label": "subtasks", "start_step": 1605, "end_step": 1664, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod by aligning the hole and lowering the block onto the rod."}, {"label": "subtasks", "start_step": 1665, "end_step": 1694, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: release: Right hand releases the white hexagonal ring on the purple rod of the wooden base, with fingers opening to separate from the ring."}, {"label": "goal", "start_step": 1676, "end_step": 1739, "id": "bf41310f-9b6c-477a-b568-83021ee61172"}, {"label": "subtasks", "start_step": 1695, "end_step": 1739, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves downward from the purple rod toward the white hexagonal ring on the black table."}, {"label": "subtasks", "start_step": 1740, "end_step": 1754, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand grasps the white hexagonal ring on the black table, with fingers closing around the ring to form a stable grip."}, {"label": "goal", "start_step": 1740, "end_step": 1875, "id": "e1a31128-462f-4f64-9c14-d58c6c970ee9"}, {"label": "subtasks", "start_step": 1755, "end_step": 1791, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal ring off the black table and transports it upward to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1792, "end_step": 1867, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand mates the white hexagonal ring with the purple rod, lowering it along the rod until it rests on the lower white block."}, {"label": "subtasks", "start_step": 1868, "end_step": 1889, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: release: Right hand releases the white hexagonal ring on the purple rod, with fingers opening to separate from the ring."}, {"label": "goal", "start_step": 1876, "end_step": 1997, "id": "5bb21685-c730-4c04-81d1-028b522d3794"}, {"label": "subtasks", "start_step": 1890, "end_step": 1927, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand reaches towards the green block on the table below the wooden tray."}, {"label": "subtasks", "start_step": 1928, "end_step": 1957, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand grasps the green block on the table with fingers closing and adjusting grip."}, {"label": "subtasks", "start_step": 1958, "end_step": 1971, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: release: Right hand releases the green block on the table with fingers opening."}, {"label": "subtasks", "start_step": 1972, "end_step": 1994, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: idle: Right hand remains empty above the green block on the table without moving."}, {"label": "subtasks", "start_step": 1995, "end_step": 2009, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach_grasp: Right hand reaches towards and grasps the green block on the table."}, {"label": "goal", "start_step": 1998, "end_step": 2273, "id": "01a6dc30-8e19-4eaa-ac38-afff14db943a"}, {"label": "subtasks", "start_step": 2010, "end_step": 2024, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift: Right hand lifts the green square block from the right side of the table surface."}, {"label": "subtasks", "start_step": 2025, "end_step": 2054, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: transport: Right hand transports the green square block leftward and upward to the top of the front-right white column on the wooden base."}, {"label": "subtasks", "start_step": 2055, "end_step": 2241, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand mates the green square block with the front-right white column by fitting it down onto the column."}, {"label": "subtasks", "start_step": 2242, "end_step": 2279, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: release: Right hand releases the green square block fitted on the front-right white column."}, {"label": "home", "start_step": 2315, "end_step": 2348, "id": "2o8l-T6yVDyOf4dmMcNr5"}], "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 workspace without moving. | Right hand: reach: Right hand moves leftward and downward from the right side of the workspace toward the green hexagonal block in front of the wooden base, with fingers open."}, {"label": "subtasks", "start_step": 98, "end_step": 171, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green hexagonal block on the table, with slight finger adjustments to stabilize the grip."}, {"label": "subtasks", "start_step": 172, "end_step": 187, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it towards the wooden rack with purple pegs."}, {"label": "subtasks", "start_step": 188, "end_step": 231, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the leftmost purple peg on the wooden rack and fits it onto the peg."}, {"label": "subtasks", "start_step": 232, "end_step": 269, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: hold: Right hand holds the green hexagonal block fitted on the leftmost purple peg without moving."}, {"label": "subtasks", "start_step": 270, "end_step": 299, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: place_release: Right hand places the white hexagonal block onto the left front peg of the pegboard and releases the block."}, {"label": "subtasks", "start_step": 300, "end_step": 329, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves downward from the pegboard toward the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 330, "end_step": 374, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table surface with fingers closing around it."}, {"label": "subtasks", "start_step": 375, "end_step": 397, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal object off the tabletop and transports it to the top of the leftmost purple peg."}, {"label": "subtasks", "start_step": 398, "end_step": 479, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand mates the white hexagonal object onto the leftmost purple peg, lowering it along the peg until it reaches the green base."}, {"label": "subtasks", "start_step": 480, "end_step": 509, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: hold: Right hand holds the white hexagonal object on the leftmost purple peg without moving."}, {"label": "subtasks", "start_step": 510, "end_step": 524, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: press: Right hand presses the white cylindrical piece onto the purple post on the wooden assembly board."}, {"label": "subtasks", "start_step": 525, "end_step": 547, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table, keeping empty and not touching the block."}, {"label": "subtasks", "start_step": 548, "end_step": 607, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 608, "end_step": 621, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal piece off the table and moves it toward the leftmost peg on the wooden base."}, {"label": "subtasks", "start_step": 622, "end_step": 681, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand aligns the white hexagonal piece with the leftmost peg and lowers it to nest the piece onto the peg."}, {"label": "subtasks", "start_step": 682, "end_step": 697, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: release: Right hand opens its fingers to release the white hexagonal piece, separating from the piece."}, {"label": "subtasks", "start_step": 698, "end_step": 704, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: idle: Right hand remains empty above the leftmost peg without moving."}, {"label": "subtasks", "start_step": 705, "end_step": 764, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves downward to approach the white hexagonal ring on the table in front of the wooden peg base."}, {"label": "subtasks", "start_step": 765, "end_step": 794, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal ring on the table, with slight grip adjustment."}, {"label": "subtasks", "start_step": 795, "end_step": 817, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal ring off the table and transports it upward to the position above the middle purple peg."}, {"label": "subtasks", "start_step": 818, "end_step": 877, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand aligns the white hexagonal ring with the middle purple peg and lowers it onto the peg to complete the fitting."}, {"label": "subtasks", "start_step": 878, "end_step": 899, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: release: Right hand opens its fingers to release the white hexagonal ring fitted on the middle purple peg."}, {"label": "subtasks", "start_step": 900, "end_step": 929, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand mates the white cylindrical piece with the purple peg on the wooden base."}, {"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 workspace without moving. | Right hand: reach: Right hand reaches downward toward the green hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 952, "end_step": 989, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table surface with fingers closing."}, {"label": "subtasks", "start_step": 990, "end_step": 1027, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table and transports it above the wooden peg board."}, {"label": "subtasks", "start_step": 1028, "end_step": 1079, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the middle peg on the wooden board and fits it onto the peg."}, {"label": "subtasks", "start_step": 1080, "end_step": 1199, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: hold: Right hand holds the green hexagonal block on the middle peg of the wooden board without moving."}, {"label": "subtasks", "start_step": 1200, "end_step": 1229, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate_release: Right hand mates the green hexagonal block onto the middle vertical peg of the wooden base and releases the block."}, {"label": "subtasks", "start_step": 1230, "end_step": 1259, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the dark table surface."}, {"label": "subtasks", "start_step": 1260, "end_step": 1297, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the dark table surface with fingers closing around it."}, {"label": "subtasks", "start_step": 1298, "end_step": 1319, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it upward and leftward to the position above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1320, "end_step": 1357, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand aligns the hole of the white hexagonal block with the purple peg and inserts it downward onto the peg to complete the assembly."}, {"label": "subtasks", "start_step": 1358, "end_step": 1409, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple peg without moving."}, {"label": "subtasks", "start_step": 1410, "end_step": 1447, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves downward from the block assembly area toward the upper white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 1448, "end_step": 1469, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand grasps the upper white hexagonal block on the black table, with fingers closing around the block."}, {"label": "subtasks", "start_step": 1470, "end_step": 1544, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: hold: Right hand holds the upper white hexagonal block on the black table without moving."}, {"label": "subtasks", "start_step": 1545, "end_step": 1559, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift: Right hand lifts the upper white hexagonal block up from the black table surface."}, {"label": "subtasks", "start_step": 1560, "end_step": 1604, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: transport: Right hand transports the white hexagonal block upward and leftward to the top of the purple rod."}, {"label": "subtasks", "start_step": 1605, "end_step": 1664, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod by aligning the hole and lowering the block onto the rod."}, {"label": "subtasks", "start_step": 1665, "end_step": 1694, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: release: Right hand releases the white hexagonal ring on the purple rod of the wooden base, with fingers opening to separate from the ring."}, {"label": "subtasks", "start_step": 1695, "end_step": 1739, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves downward from the purple rod toward the white hexagonal ring on the black table."}, {"label": "subtasks", "start_step": 1740, "end_step": 1754, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand grasps the white hexagonal ring on the black table, with fingers closing around the ring to form a stable grip."}, {"label": "subtasks", "start_step": 1755, "end_step": 1791, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal ring off the black table and transports it upward to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1792, "end_step": 1867, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand mates the white hexagonal ring with the purple rod, lowering it along the rod until it rests on the lower white block."}, {"label": "subtasks", "start_step": 1868, "end_step": 1889, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: release: Right hand releases the white hexagonal ring on the purple rod, with fingers opening to separate from the ring."}, {"label": "subtasks", "start_step": 1890, "end_step": 1927, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand reaches towards the green block on the table below the wooden tray."}, {"label": "subtasks", "start_step": 1928, "end_step": 1957, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand grasps the green block on the table with fingers closing and adjusting grip."}, {"label": "subtasks", "start_step": 1958, "end_step": 1971, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: release: Right hand releases the green block on the table with fingers opening."}, {"label": "subtasks", "start_step": 1972, "end_step": 1994, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: idle: Right hand remains empty above the green block on the table without moving."}, {"label": "subtasks", "start_step": 1995, "end_step": 2009, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach_grasp: Right hand reaches towards and grasps the green block on the table."}, {"label": "subtasks", "start_step": 2010, "end_step": 2024, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift: Right hand lifts the green square block from the right side of the table surface."}, {"label": "subtasks", "start_step": 2025, "end_step": 2054, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: transport: Right hand transports the green square block leftward and upward to the top of the front-right white column on the wooden base."}, {"label": "subtasks", "start_step": 2055, "end_step": 2241, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand mates the green square block with the front-right white column by fitting it down onto the column."}, {"label": "subtasks", "start_step": 2242, "end_step": 2279, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: release: Right hand releases the green square block fitted on the front-right white column."}], "episode_index": 18}
+{"source_uid": "f01be3017474afba", "num_frames": 2790, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 51, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves towards the green hexagonal block placed on the black table near the wooden rack."}, {"label": "goal", "start_step": 0, "end_step": 148, "id": "a95866b3-210f-4d70-99f6-08726cd18a38"}, {"label": "valid", "start_step": 0, "end_step": 2757, "id": "TCy-rq4of2VsyDwVn4sbu"}, {"label": "subtasks", "start_step": 52, "end_step": 164, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand closes fingers to adjust contact and establish stable grasp on the green hexagonal block."}, {"label": "goal", "start_step": 149, "end_step": 338, "id": "00fd3d7f-e7dd-49af-84da-cd6f5ad0066e"}, {"label": "subtasks", "start_step": 165, "end_step": 201, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and moves it to the position above the leftmost peg of the wooden base."}, {"label": "subtasks", "start_step": 202, "end_step": 269, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand aligns the green block with the leftmost peg and inserts the block onto the peg."}, {"label": "subtasks", "start_step": 270, "end_step": 329, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: press: Right hand presses the green block down along the peg to fit it firmly in position."}, {"label": "subtasks", "start_step": 330, "end_step": 359, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: press_release: Right hand presses the green block onto the purple peg on the wooden base before releasing it."}, {"label": "goal", "start_step": 339, "end_step": 426, "id": "7c49cf4f-5077-4037-a273-ebc3bf82635b"}, {"label": "subtasks", "start_step": 360, "end_step": 374, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves downward from the wooden base toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 375, "end_step": 441, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand adjusts fingers to form a stable grip on the white hexagonal block on the table."}, {"label": "goal", "start_step": 427, "end_step": 560, "id": "230ccdcf-bcb0-4b53-9feb-f04fcd16681f"}, {"label": "subtasks", "start_step": 442, "end_step": 471, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal object from the table and transports it to the top of the leftmost purple rod on the wooden base."}, {"label": "subtasks", "start_step": 472, "end_step": 509, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand aligns the white hexagonal object with the leftmost purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 510, "end_step": 554, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: press: Right hand presses the white hexagonal object down along the purple rod to the bottom position."}, {"label": "subtasks", "start_step": 555, "end_step": 577, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: release: Right hand releases the white cylindrical block on the peg of the wooden base."}, {"label": "goal", "start_step": 561, "end_step": 638, "id": "1e85e8d3-26b5-4b1a-874b-f489eb0c79a9"}, {"label": "subtasks", "start_step": 578, "end_step": 614, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block placed on the black tabletop."}, {"label": "subtasks", "start_step": 615, "end_step": 711, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black tabletop with fingers closing around it."}, {"label": "goal", "start_step": 639, "end_step": 858, "id": "a5d6cd66-91b0-4ea9-9756-b0bd8af2daab"}, {"label": "subtasks", "start_step": 712, "end_step": 727, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift: Right hand lifts the white hexagonal block up from the black table."}, {"label": "subtasks", "start_step": 728, "end_step": 749, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: transport: Right hand transports the white hexagonal block to above the leftmost purple rod on the wooden test tube rack."}, {"label": "subtasks", "start_step": 750, "end_step": 831, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: place: Right hand places the white hexagonal block onto the leftmost purple rod of the wooden test tube rack."}, {"label": "subtasks", "start_step": 832, "end_step": 854, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: release: Right hand releases the white hexagonal block fitted on the leftmost purple rod."}, {"label": "subtasks", "start_step": 855, "end_step": 869, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: retreat: Right hand retreats upward away from the white hexagonal block."}, {"label": "goal", "start_step": 859, "end_step": 940, "id": "de612552-7ade-4a35-9995-38cd768699df"}, {"label": "subtasks", "start_step": 870, "end_step": 884, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: place: Right hand places the white hollow cylinder onto the purple rod of the wooden base."}, {"label": "subtasks", "start_step": 885, "end_step": 929, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand reaches towards the white hexagonal object on the table in front of the wooden base."}, {"label": "subtasks", "start_step": 930, "end_step": 959, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table in front of the wooden rack."}, {"label": "goal", "start_step": 941, "end_step": 1056, "id": "c4f7d79d-014b-4394-a686-4366d5bbeddc"}, {"label": "subtasks", "start_step": 960, "end_step": 989, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it above the rear right pillar of the wooden rack."}, {"label": "subtasks", "start_step": 990, "end_step": 1049, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand mates the white hexagonal block with the rear right pillar of the wooden rack by inserting it downwards onto the pillar."}, {"label": "subtasks", "start_step": 1050, "end_step": 1079, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: place: Right hand places the white hexagonal block onto the target peg on the wooden base."}, {"label": "goal", "start_step": 1057, "end_step": 1122, "id": "3c8dcbd3-e705-42c4-86f9-a69577e8c162"}, {"label": "subtasks", "start_step": 1080, "end_step": 1139, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves downward towards the green cubic block on the table surface."}, {"label": "goal", "start_step": 1123, "end_step": 1724, "id": "70b9910a-8e51-4a58-9ee4-2940aff5adfa"}, {"label": "subtasks", "start_step": 1140, "end_step": 1154, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand closes its fingers to form a stable grasp on the green cubic block."}, {"label": "subtasks", "start_step": 1155, "end_step": 1169, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift: Right hand lifts the green cubic block completely off the table surface."}, {"label": "subtasks", "start_step": 1170, "end_step": 1191, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: transport: Right hand transports the green cubic block to the area above the wooden base."}, {"label": "subtasks", "start_step": 1192, "end_step": 1641, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand aligns the green cubic block with the top of the target peg on the wooden base and presses it down to assemble."}, {"label": "subtasks", "start_step": 1642, "end_step": 1724, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand makes slight finger adjustments to the position of the green cubic block on the peg."}, {"label": "subtasks", "start_step": 1725, "end_step": 1754, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand mates the white cylindrical block onto the purple peg on the wooden base."}, {"label": "goal", "start_step": 1725, "end_step": 1828, "id": "d31484b6-9ebc-4342-8090-f09d25d14fde"}, {"label": "subtasks", "start_step": 1755, "end_step": 1799, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves downwards towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1800, "end_step": 1844, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the black table surface."}, {"label": "goal", "start_step": 1829, "end_step": 1954, "id": "b51df9e7-e683-4a9d-8ce1-38b305e16248"}, {"label": "subtasks", "start_step": 1845, "end_step": 1867, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the white hollow cylinder from the table and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1868, "end_step": 1949, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand aligns the white hollow cylinder with the purple rod on the wooden base and inserts it downwards to complete assembly."}, {"label": "subtasks", "start_step": 1950, "end_step": 1979, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: place: Right hand places the white cylindrical object onto the corresponding peg on the wooden base."}, {"label": "goal", "start_step": 1955, "end_step": 2094, "id": "becbed5e-fb37-4b53-acc3-5e7c57076f1b"}, {"label": "subtasks", "start_step": 1980, "end_step": 1994, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: release: Right hand releases the white cylindrical object after completing the placement."}, {"label": "subtasks", "start_step": 1995, "end_step": 2039, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves downward and rightward towards the white hexagonal object on the black tabletop."}, {"label": "subtasks", "start_step": 2040, "end_step": 2114, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand grasps and adjusts contact with the white hexagonal object on the black tabletop."}, {"label": "goal", "start_step": 2095, "end_step": 2262, "id": "9813155c-be4b-4dd5-8c72-66bdf7c919ad"}, {"label": "subtasks", "start_step": 2115, "end_step": 2144, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2145, "end_step": 2241, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 2242, "end_step": 2249, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: release_retreat: Right hand releases the white hexagonal block on the purple rod and moves away from the wooden base."}, {"label": "subtasks", "start_step": 2250, "end_step": 2324, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves towards the white hexagonal block on the black tabletop."}, {"label": "goal", "start_step": 2263, "end_step": 2318, "id": "b780af05-31be-46d1-a2b5-541f145739cb"}, {"label": "goal", "start_step": 2319, "end_step": 2486, "id": "9a57316a-b675-4d51-9ec2-410a2edba44a"}, {"label": "subtasks", "start_step": 2325, "end_step": 2339, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the tabletop."}, {"label": "subtasks", "start_step": 2340, "end_step": 2361, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the tabletop and moves it towards the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 2362, "end_step": 2467, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: place: Right hand places the white hexagonal block onto the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 2468, "end_step": 2497, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: release: Right hand releases the white hexagonal block on the purple peg."}, {"label": "goal", "start_step": 2487, "end_step": 2550, "id": "b5954b32-3eb6-4c67-be8f-e81b3796f0df"}, {"label": "subtasks", "start_step": 2498, "end_step": 2541, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves towards the green square block on the dark table surface."}, {"label": "subtasks", "start_step": 2542, "end_step": 2579, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand grasps the green square block on the dark table surface."}, {"label": "goal", "start_step": 2551, "end_step": 2702, "id": "2fe0f22a-aec6-494c-bd6f-6287024b622c"}, {"label": "subtasks", "start_step": 2580, "end_step": 2609, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the green cubic block off the table and transports it towards the white pillar on the wooden tray."}, {"label": "subtasks", "start_step": 2610, "end_step": 2691, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand aligns the green cubic block with the top of the target white pillar and fits the block onto the pillar."}, {"label": "subtasks", "start_step": 2692, "end_step": 2707, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: release: Right hand opens its fingers to release the green cubic block fitted on the white pillar."}, {"label": "subtasks", "start_step": 2708, "end_step": 2714, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: retreat: Right hand moves slightly away from the wooden tray after releasing the block."}, {"label": "home", "start_step": 2758, "end_step": 2789, "id": "n9-e_Cbwznfd168CP7QA3"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 51, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves towards the green hexagonal block placed on the black table near the wooden rack."}, {"label": "subtasks", "start_step": 52, "end_step": 164, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand closes fingers to adjust contact and establish stable grasp on the green hexagonal block."}, {"label": "subtasks", "start_step": 165, "end_step": 201, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and moves it to the position above the leftmost peg of the wooden base."}, {"label": "subtasks", "start_step": 202, "end_step": 269, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand aligns the green block with the leftmost peg and inserts the block onto the peg."}, {"label": "subtasks", "start_step": 270, "end_step": 329, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: press: Right hand presses the green block down along the peg to fit it firmly in position."}, {"label": "subtasks", "start_step": 330, "end_step": 359, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: press_release: Right hand presses the green block onto the purple peg on the wooden base before releasing it."}, {"label": "subtasks", "start_step": 360, "end_step": 374, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves downward from the wooden base toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 375, "end_step": 441, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand adjusts fingers to form a stable grip on the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 442, "end_step": 471, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal object from the table and transports it to the top of the leftmost purple rod on the wooden base."}, {"label": "subtasks", "start_step": 472, "end_step": 509, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand aligns the white hexagonal object with the leftmost purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 510, "end_step": 554, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: press: Right hand presses the white hexagonal object down along the purple rod to the bottom position."}, {"label": "subtasks", "start_step": 555, "end_step": 577, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: release: Right hand releases the white cylindrical block on the peg of the wooden base."}, {"label": "subtasks", "start_step": 578, "end_step": 614, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block placed on the black tabletop."}, {"label": "subtasks", "start_step": 615, "end_step": 711, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black tabletop with fingers closing around it."}, {"label": "subtasks", "start_step": 712, "end_step": 727, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift: Right hand lifts the white hexagonal block up from the black table."}, {"label": "subtasks", "start_step": 728, "end_step": 749, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: transport: Right hand transports the white hexagonal block to above the leftmost purple rod on the wooden test tube rack."}, {"label": "subtasks", "start_step": 750, "end_step": 831, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: place: Right hand places the white hexagonal block onto the leftmost purple rod of the wooden test tube rack."}, {"label": "subtasks", "start_step": 832, "end_step": 854, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: release: Right hand releases the white hexagonal block fitted on the leftmost purple rod."}, {"label": "subtasks", "start_step": 855, "end_step": 869, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: retreat: Right hand retreats upward away from the white hexagonal block."}, {"label": "subtasks", "start_step": 870, "end_step": 884, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: place: Right hand places the white hollow cylinder onto the purple rod of the wooden base."}, {"label": "subtasks", "start_step": 885, "end_step": 929, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand reaches towards the white hexagonal object on the table in front of the wooden base."}, {"label": "subtasks", "start_step": 930, "end_step": 959, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table in front of the wooden rack."}, {"label": "subtasks", "start_step": 960, "end_step": 989, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it above the rear right pillar of the wooden rack."}, {"label": "subtasks", "start_step": 990, "end_step": 1049, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand mates the white hexagonal block with the rear right pillar of the wooden rack by inserting it downwards onto the pillar."}, {"label": "subtasks", "start_step": 1050, "end_step": 1079, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: place: Right hand places the white hexagonal block onto the target peg on the wooden base."}, {"label": "subtasks", "start_step": 1080, "end_step": 1139, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves downward towards the green cubic block on the table surface."}, {"label": "subtasks", "start_step": 1140, "end_step": 1154, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand closes its fingers to form a stable grasp on the green cubic block."}, {"label": "subtasks", "start_step": 1155, "end_step": 1169, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift: Right hand lifts the green cubic block completely off the table surface."}, {"label": "subtasks", "start_step": 1170, "end_step": 1191, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: transport: Right hand transports the green cubic block to the area above the wooden base."}, {"label": "subtasks", "start_step": 1192, "end_step": 1641, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand aligns the green cubic block with the top of the target peg on the wooden base and presses it down to assemble."}, {"label": "subtasks", "start_step": 1642, "end_step": 1724, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand makes slight finger adjustments to the position of the green cubic block on the peg."}, {"label": "subtasks", "start_step": 1725, "end_step": 1754, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand mates the white cylindrical block onto the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1755, "end_step": 1799, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves downwards towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1800, "end_step": 1844, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1845, "end_step": 1867, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the white hollow cylinder from the table and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1868, "end_step": 1949, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand aligns the white hollow cylinder with the purple rod on the wooden base and inserts it downwards to complete assembly."}, {"label": "subtasks", "start_step": 1950, "end_step": 1979, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: place: Right hand places the white cylindrical object onto the corresponding peg on the wooden base."}, {"label": "subtasks", "start_step": 1980, "end_step": 1994, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: release: Right hand releases the white cylindrical object after completing the placement."}, {"label": "subtasks", "start_step": 1995, "end_step": 2039, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves downward and rightward towards the white hexagonal object on the black tabletop."}, {"label": "subtasks", "start_step": 2040, "end_step": 2114, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand grasps and adjusts contact with the white hexagonal object on the black tabletop."}, {"label": "subtasks", "start_step": 2115, "end_step": 2144, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2145, "end_step": 2241, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 2242, "end_step": 2249, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: release_retreat: Right hand releases the white hexagonal block on the purple rod and moves away from the wooden base."}, {"label": "subtasks", "start_step": 2250, "end_step": 2324, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves towards the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 2325, "end_step": 2339, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the tabletop."}, {"label": "subtasks", "start_step": 2340, "end_step": 2361, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the tabletop and moves it towards the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 2362, "end_step": 2467, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: place: Right hand places the white hexagonal block onto the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 2468, "end_step": 2497, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: release: Right hand releases the white hexagonal block on the purple peg."}, {"label": "subtasks", "start_step": 2498, "end_step": 2541, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves towards the green square block on the dark table surface."}, {"label": "subtasks", "start_step": 2542, "end_step": 2579, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand grasps the green square block on the dark table surface."}, {"label": "subtasks", "start_step": 2580, "end_step": 2609, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the green cubic block off the table and transports it towards the white pillar on the wooden tray."}, {"label": "subtasks", "start_step": 2610, "end_step": 2691, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand aligns the green cubic block with the top of the target white pillar and fits the block onto the pillar."}, {"label": "subtasks", "start_step": 2692, "end_step": 2707, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: release: Right hand opens its fingers to release the green cubic block fitted on the white pillar."}, {"label": "subtasks", "start_step": 2708, "end_step": 2714, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: retreat: Right hand moves slightly away from the wooden tray after releasing the block."}], "episode_index": 19}
+{"source_uid": "40ed9f718a718274", "num_frames": 2369, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without movement or contact with any objects. | Right hand: idle: Right hand stays empty at the right initial home position without obvious movement."}, {"label": "goal", "start_step": 0, "end_step": 142, "id": "34092ae0-b3fc-47cc-9264-3300c83327a9"}, {"label": "valid", "start_step": 0, "end_step": 2334, "id": "g8GO3zgcrpfDlTD4nz4O8"}, {"label": "subtasks", "start_step": 30, "end_step": 81, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without movement or contact with any objects. | Right hand: reach: Right hand moves left and downward toward the green hexagonal block adjacent to the wooden peg base, with fingers open and no contact with the target block."}, {"label": "subtasks", "start_step": 82, "end_step": 157, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without movement or contact with any objects. | Right hand: grasp: Right hand closes fingers around the target green hexagonal block on the table, adjusting finger contact positions to establish a grip on the block."}, {"label": "goal", "start_step": 143, "end_step": 278, "id": "b17026de-6352-48e3-9103-a1c70c044eab"}, {"label": "subtasks", "start_step": 158, "end_step": 179, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without movement or contact with any objects. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block completely off the table surface and moves it upward to position directly above the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 180, "end_step": 269, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without movement or contact with any objects. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the target purple peg and lowers the block to insert it onto the peg, making small positional adjustments to maintain alignment during assembly."}, {"label": "subtasks", "start_step": 270, "end_step": 307, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without movement or contact with any objects. | Right hand: reach: Right hand moves downward from its initial position near the block assembly to approach the white hexagonal nut on the table, fingers slightly spread."}, {"label": "goal", "start_step": 279, "end_step": 328, "id": "fd821027-4a44-465a-b5e9-2893169f3f5b"}, {"label": "subtasks", "start_step": 308, "end_step": 337, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without movement or contact with any objects. | Right hand: grasp: Right hand closes its fingers around the white hexagonal nut, establishing a stable grip while the nut rests on the table surface."}, {"label": "goal", "start_step": 329, "end_step": 460, "id": "c7225587-501f-4c34-a9c4-657c2a7a9c61"}, {"label": "subtasks", "start_step": 338, "end_step": 367, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without movement or contact with any objects. | Right hand: lift_transport: Right hand lifts the white hexagonal nut completely off the table surface and transports it upward to the position above the unoccupied purple peg on the wooden base."}, {"label": "subtasks", "start_step": 368, "end_step": 389, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without movement or contact with any objects. | Right hand: mate: Right hand adjusts the position of the white hexagonal nut to align its central hole with the top of the empty purple peg."}, {"label": "subtasks", "start_step": 390, "end_step": 411, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without movement or contact with any objects. | Right hand: place: Right hand lowers the aligned white hexagonal nut along the purple peg until the nut rests stably on the green supporting block below."}, {"label": "subtasks", "start_step": 412, "end_step": 449, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without movement or contact with any objects. | Right hand: hold: Right hand holds the seated white hexagonal nut on the purple peg without observable movement or grip adjustment."}, {"label": "subtasks", "start_step": 450, "end_step": 501, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without movement or contact with any objects. | Right hand: reach: Right hand moves empty downward and forward from the area above the wooden assembly base toward the front white hexagonal nut on the table surface."}, {"label": "goal", "start_step": 461, "end_step": 532, "id": "c6133cd5-458e-48f3-b2cc-900bb4a5a736"}, {"label": "subtasks", "start_step": 502, "end_step": 547, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without movement or contact with any objects. | Right hand: grasp: Right hand closes fingers around the front white hexagonal nut on the table, adjusting finger contact positions to establish a grip."}, {"label": "goal", "start_step": 533, "end_step": 790, "id": "369045b3-fd63-4d5e-96d9-5d7c119794d3"}, {"label": "subtasks", "start_step": 548, "end_step": 577, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without movement or contact with any objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and transports it upward to the position directly above the purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 578, "end_step": 779, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without movement or contact with any objects. | Right hand: mate: Right hand adjusts the orientation and position of the white hexagonal nut to align its central hole with the purple rod on the wooden base, and moves it slightly downward to fit onto the rod."}, {"label": "subtasks", "start_step": 780, "end_step": 801, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without movement or contact with any objects. | Right hand: press: Right hand presses the top surface of the top white hexagonal nut on the rightmost peg of the wooden assembly base downward to secure the nut in place."}, {"label": "goal", "start_step": 791, "end_step": 886, "id": "1c7537fb-0940-4573-912f-0fc4bb2e76b9"}, {"label": "subtasks", "start_step": 802, "end_step": 831, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without movement or contact with any objects. | Right hand: reach: Right hand moves downward through the air toward the white hexagonal nut positioned in front of the wooden assembly base."}, {"label": "subtasks", "start_step": 832, "end_step": 884, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without movement or contact with any objects. | Right hand: grasp: Right hand makes contact with the target white hexagonal nut in front of the assembly base, closing fingers and adjusting hand position to form a stable grip on the nut."}, {"label": "subtasks", "start_step": 885, "end_step": 914, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without movement or contact with any objects. | Right hand: lift: Right hand lifts the grasped white hexagonal nut upward from the black table surface until the nut is completely separated from the table."}, {"label": "goal", "start_step": 887, "end_step": 1238, "id": "ca1c5803-d579-420a-9e8a-5fd1390aedab"}, {"label": "subtasks", "start_step": 915, "end_step": 951, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without movement or contact with any objects. | Right hand: transport: Right hand carries the white hexagonal nut toward the wooden assembly base, moving the nut to a position directly above the target purple vertical post."}, {"label": "subtasks", "start_step": 952, "end_step": 1229, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without movement or contact with any objects. | Right hand: mate: Right hand makes small positional and rotational adjustments to align the white hexagonal nut with the purple post, moving the nut downward to fit it onto the post."}, {"label": "subtasks", "start_step": 1230, "end_step": 1267, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without movement or contact with any objects. | Right hand: press: Right hand presses the top white hexagonal block on the purple peg of the wooden base downward until it is fully seated level with adjacent blocks."}, {"label": "goal", "start_step": 1239, "end_step": 1324, "id": "04ddb7d5-9804-482f-af2f-33eaeda13776"}, {"label": "subtasks", "start_step": 1268, "end_step": 1289, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without movement or contact with any objects. | Right hand: reach: Right hand moves downward from the wooden base toward the green hexagonal block placed on the table surface, approaching the target object."}, {"label": "subtasks", "start_step": 1290, "end_step": 1334, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without movement or contact with any objects. | Right hand: grasp: Right hand closes fingers around the target green hexagonal block on the table, adjusting finger contact positions to establish a secure grip."}, {"label": "goal", "start_step": 1325, "end_step": 1450, "id": "f16021f8-a4f9-4e43-bf11-a0d66d05ff12"}, {"label": "subtasks", "start_step": 1335, "end_step": 1364, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without movement or contact with any objects. | Right hand: lift_transport: Right hand lifts the green hexagonal block completely off the table surface and transports it upward to the position directly above the purple post on the wooden assembly base."}, {"label": "subtasks", "start_step": 1365, "end_step": 1424, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without movement or contact with any objects. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple post and lowers the block to fit onto the post."}, {"label": "subtasks", "start_step": 1425, "end_step": 1461, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without movement or contact with any objects. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple post without any visible movement of the hand or the block."}, {"label": "goal", "start_step": 1451, "end_step": 1522, "id": "6a7eaa24-06bb-4b22-94da-598082665a07"}, {"label": "subtasks", "start_step": 1462, "end_step": 1491, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without movement or contact with any objects. | Right hand: reach: Right hand moves downwards from the wooden peg base towards the green hexagonal block on the table surface, with fingers held open."}, {"label": "subtasks", "start_step": 1492, "end_step": 1537, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without movement or contact with any objects. | Right hand: grasp: Right hand makes contact with the green hexagonal block on the table and closes fingers to establish a grip on the block."}, {"label": "goal", "start_step": 1523, "end_step": 1642, "id": "0c136808-6cf4-471e-a44e-f61feccbe9c8"}, {"label": "subtasks", "start_step": 1538, "end_step": 1559, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without movement or contact with any objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the table and moves it upward to the position directly above the purple rod on the wooden assembly stand."}, {"label": "subtasks", "start_step": 1560, "end_step": 1597, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without movement or contact with any objects. | Right hand: mate: Right hand adjusts the position and orientation of the held white hexagonal nut to align its central hole with the top of the purple rod, fitting the rod tip into the nut hole."}, {"label": "subtasks", "start_step": 1598, "end_step": 1634, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without movement or contact with any objects. | Right hand: place_release: Right hand lowers the white hexagonal nut along the purple rod until the nut is fully seated and supported on the assembly stand, opening fingers to release the positioned nut."}, {"label": "subtasks", "start_step": 1635, "end_step": 1671, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without movement or contact with any objects. | Right hand: reach: Right hand moves downward with open fingers toward the white hexagonal nut placed beside the wooden block on the table surface."}, {"label": "goal", "start_step": 1643, "end_step": 1700, "id": "644a2a86-97d2-4e41-bdd4-177f35a82be3"}, {"label": "subtasks", "start_step": 1672, "end_step": 1709, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without movement or contact with any objects. | Right hand: grasp: Right hand closes its fingers around the white hexagonal nut on the table to form a stable grip, with the nut still resting on the table."}, {"label": "goal", "start_step": 1701, "end_step": 1826, "id": "2476869b-7bd6-4396-a8a6-b97c1e0c7326"}, {"label": "subtasks", "start_step": 1710, "end_step": 1754, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without movement or contact with any objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward to position directly above the purple rod on the wooden block."}, {"label": "subtasks", "start_step": 1755, "end_step": 1814, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without movement or contact with any objects. | Right hand: mate: Right hand aligns the held white hexagonal nut with the purple rod and lowers it to fit the nut onto the rod for assembly."}, {"label": "subtasks", "start_step": 1815, "end_step": 1829, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without movement or contact with any objects. | Right hand: release: Right hand opens its fingers to release the white hexagonal nut, separating the hand from the nut resting on the wooden block base."}, {"label": "goal", "start_step": 1827, "end_step": 1886, "id": "8938f1bb-ce15-4909-a904-39cbe8f3dbdf"}, {"label": "subtasks", "start_step": 1830, "end_step": 1851, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without movement or contact with any objects. | Right hand: reach: Right hand moves downward with an open posture toward the white hexagonal block placed on the table surface."}, {"label": "subtasks", "start_step": 1852, "end_step": 1897, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without movement or contact with any objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table to form a stable grip."}, {"label": "goal", "start_step": 1887, "end_step": 2064, "id": "f5c4417d-ee97-4781-ad13-d70ece90590e"}, {"label": "subtasks", "start_step": 1898, "end_step": 1941, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without movement or contact with any objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block completely off the table surface and moves it upward to the position directly above the purple cylinder on the wooden base."}, {"label": "subtasks", "start_step": 1942, "end_step": 2054, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without movement or contact with any objects. | Right hand: mate: Right hand adjusts the position of the white hexagonal block, aligns its central hole with the purple cylinder, and fits the block down onto the cylinder to complete the assembly."}, {"label": "subtasks", "start_step": 2055, "end_step": 2091, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without movement or contact with any objects. | Right hand: reach: Right hand moves empty downward toward the green hollow block placed on the dark table surface."}, {"label": "goal", "start_step": 2065, "end_step": 2130, "id": "a291ad2a-7c53-40e2-9eee-9a337437be8d"}, {"label": "subtasks", "start_step": 2092, "end_step": 2151, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without movement or contact with any objects. | Right hand: grasp: Right hand contacts the green hollow block, adjusts finger positions and closes fingers to form a grasp, with the block remaining on the table surface."}, {"label": "goal", "start_step": 2131, "end_step": 2278, "id": "12d0d9fa-f992-4237-ac8a-49b0cda2f607"}, {"label": "subtasks", "start_step": 2152, "end_step": 2181, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without movement or contact with any objects. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table surface and moves it to the position directly above the rightmost white cylinder on the wooden block rack."}, {"label": "subtasks", "start_step": 2182, "end_step": 2249, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without movement or contact with any objects. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the top of the rightmost white cylinder and lowers the block to fit snugly onto the cylinder."}, {"label": "subtasks", "start_step": 2250, "end_step": 2279, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without movement or contact with any objects. | Right hand: release: Right hand opens its fingers to release the fitted green hexagonal block, loosening grip on the block."}, {"label": "home", "start_step": 2335, "end_step": 2368, "id": "GSaYZtIObmvoDthYthRxZ"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without movement or contact with any objects. | Right hand: idle: Right hand stays empty at the right initial home position without obvious movement."}, {"label": "subtasks", "start_step": 30, "end_step": 81, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without movement or contact with any objects. | Right hand: reach: Right hand moves left and downward toward the green hexagonal block adjacent to the wooden peg base, with fingers open and no contact with the target block."}, {"label": "subtasks", "start_step": 82, "end_step": 157, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without movement or contact with any objects. | Right hand: grasp: Right hand closes fingers around the target green hexagonal block on the table, adjusting finger contact positions to establish a grip on the block."}, {"label": "subtasks", "start_step": 158, "end_step": 179, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without movement or contact with any objects. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block completely off the table surface and moves it upward to position directly above the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 180, "end_step": 269, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without movement or contact with any objects. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the target purple peg and lowers the block to insert it onto the peg, making small positional adjustments to maintain alignment during assembly."}, {"label": "subtasks", "start_step": 270, "end_step": 307, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without movement or contact with any objects. | Right hand: reach: Right hand moves downward from its initial position near the block assembly to approach the white hexagonal nut on the table, fingers slightly spread."}, {"label": "subtasks", "start_step": 308, "end_step": 337, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without movement or contact with any objects. | Right hand: grasp: Right hand closes its fingers around the white hexagonal nut, establishing a stable grip while the nut rests on the table surface."}, {"label": "subtasks", "start_step": 338, "end_step": 367, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without movement or contact with any objects. | Right hand: lift_transport: Right hand lifts the white hexagonal nut completely off the table surface and transports it upward to the position above the unoccupied purple peg on the wooden base."}, {"label": "subtasks", "start_step": 368, "end_step": 389, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without movement or contact with any objects. | Right hand: mate: Right hand adjusts the position of the white hexagonal nut to align its central hole with the top of the empty purple peg."}, {"label": "subtasks", "start_step": 390, "end_step": 411, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without movement or contact with any objects. | Right hand: place: Right hand lowers the aligned white hexagonal nut along the purple peg until the nut rests stably on the green supporting block below."}, {"label": "subtasks", "start_step": 412, "end_step": 449, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without movement or contact with any objects. | Right hand: hold: Right hand holds the seated white hexagonal nut on the purple peg without observable movement or grip adjustment."}, {"label": "subtasks", "start_step": 450, "end_step": 501, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without movement or contact with any objects. | Right hand: reach: Right hand moves empty downward and forward from the area above the wooden assembly base toward the front white hexagonal nut on the table surface."}, {"label": "subtasks", "start_step": 502, "end_step": 547, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without movement or contact with any objects. | Right hand: grasp: Right hand closes fingers around the front white hexagonal nut on the table, adjusting finger contact positions to establish a grip."}, {"label": "subtasks", "start_step": 548, "end_step": 577, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without movement or contact with any objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and transports it upward to the position directly above the purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 578, "end_step": 779, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without movement or contact with any objects. | Right hand: mate: Right hand adjusts the orientation and position of the white hexagonal nut to align its central hole with the purple rod on the wooden base, and moves it slightly downward to fit onto the rod."}, {"label": "subtasks", "start_step": 780, "end_step": 801, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without movement or contact with any objects. | Right hand: press: Right hand presses the top surface of the top white hexagonal nut on the rightmost peg of the wooden assembly base downward to secure the nut in place."}, {"label": "subtasks", "start_step": 802, "end_step": 831, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without movement or contact with any objects. | Right hand: reach: Right hand moves downward through the air toward the white hexagonal nut positioned in front of the wooden assembly base."}, {"label": "subtasks", "start_step": 832, "end_step": 884, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without movement or contact with any objects. | Right hand: grasp: Right hand makes contact with the target white hexagonal nut in front of the assembly base, closing fingers and adjusting hand position to form a stable grip on the nut."}, {"label": "subtasks", "start_step": 885, "end_step": 914, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without movement or contact with any objects. | Right hand: lift: Right hand lifts the grasped white hexagonal nut upward from the black table surface until the nut is completely separated from the table."}, {"label": "subtasks", "start_step": 915, "end_step": 951, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without movement or contact with any objects. | Right hand: transport: Right hand carries the white hexagonal nut toward the wooden assembly base, moving the nut to a position directly above the target purple vertical post."}, {"label": "subtasks", "start_step": 952, "end_step": 1229, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without movement or contact with any objects. | Right hand: mate: Right hand makes small positional and rotational adjustments to align the white hexagonal nut with the purple post, moving the nut downward to fit it onto the post."}, {"label": "subtasks", "start_step": 1230, "end_step": 1267, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without movement or contact with any objects. | Right hand: press: Right hand presses the top white hexagonal block on the purple peg of the wooden base downward until it is fully seated level with adjacent blocks."}, {"label": "subtasks", "start_step": 1268, "end_step": 1289, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without movement or contact with any objects. | Right hand: reach: Right hand moves downward from the wooden base toward the green hexagonal block placed on the table surface, approaching the target object."}, {"label": "subtasks", "start_step": 1290, "end_step": 1334, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without movement or contact with any objects. | Right hand: grasp: Right hand closes fingers around the target green hexagonal block on the table, adjusting finger contact positions to establish a secure grip."}, {"label": "subtasks", "start_step": 1335, "end_step": 1364, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without movement or contact with any objects. | Right hand: lift_transport: Right hand lifts the green hexagonal block completely off the table surface and transports it upward to the position directly above the purple post on the wooden assembly base."}, {"label": "subtasks", "start_step": 1365, "end_step": 1424, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without movement or contact with any objects. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple post and lowers the block to fit onto the post."}, {"label": "subtasks", "start_step": 1425, "end_step": 1461, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without movement or contact with any objects. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple post without any visible movement of the hand or the block."}, {"label": "subtasks", "start_step": 1462, "end_step": 1491, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without movement or contact with any objects. | Right hand: reach: Right hand moves downwards from the wooden peg base towards the green hexagonal block on the table surface, with fingers held open."}, {"label": "subtasks", "start_step": 1492, "end_step": 1537, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without movement or contact with any objects. | Right hand: grasp: Right hand makes contact with the green hexagonal block on the table and closes fingers to establish a grip on the block."}, {"label": "subtasks", "start_step": 1538, "end_step": 1559, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without movement or contact with any objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the table and moves it upward to the position directly above the purple rod on the wooden assembly stand."}, {"label": "subtasks", "start_step": 1560, "end_step": 1597, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without movement or contact with any objects. | Right hand: mate: Right hand adjusts the position and orientation of the held white hexagonal nut to align its central hole with the top of the purple rod, fitting the rod tip into the nut hole."}, {"label": "subtasks", "start_step": 1598, "end_step": 1634, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without movement or contact with any objects. | Right hand: place_release: Right hand lowers the white hexagonal nut along the purple rod until the nut is fully seated and supported on the assembly stand, opening fingers to release the positioned nut."}, {"label": "subtasks", "start_step": 1635, "end_step": 1671, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without movement or contact with any objects. | Right hand: reach: Right hand moves downward with open fingers toward the white hexagonal nut placed beside the wooden block on the table surface."}, {"label": "subtasks", "start_step": 1672, "end_step": 1709, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without movement or contact with any objects. | Right hand: grasp: Right hand closes its fingers around the white hexagonal nut on the table to form a stable grip, with the nut still resting on the table."}, {"label": "subtasks", "start_step": 1710, "end_step": 1754, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without movement or contact with any objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward to position directly above the purple rod on the wooden block."}, {"label": "subtasks", "start_step": 1755, "end_step": 1814, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without movement or contact with any objects. | Right hand: mate: Right hand aligns the held white hexagonal nut with the purple rod and lowers it to fit the nut onto the rod for assembly."}, {"label": "subtasks", "start_step": 1815, "end_step": 1829, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without movement or contact with any objects. | Right hand: release: Right hand opens its fingers to release the white hexagonal nut, separating the hand from the nut resting on the wooden block base."}, {"label": "subtasks", "start_step": 1830, "end_step": 1851, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without movement or contact with any objects. | Right hand: reach: Right hand moves downward with an open posture toward the white hexagonal block placed on the table surface."}, {"label": "subtasks", "start_step": 1852, "end_step": 1897, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without movement or contact with any objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table to form a stable grip."}, {"label": "subtasks", "start_step": 1898, "end_step": 1941, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without movement or contact with any objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block completely off the table surface and moves it upward to the position directly above the purple cylinder on the wooden base."}, {"label": "subtasks", "start_step": 1942, "end_step": 2054, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without movement or contact with any objects. | Right hand: mate: Right hand adjusts the position of the white hexagonal block, aligns its central hole with the purple cylinder, and fits the block down onto the cylinder to complete the assembly."}, {"label": "subtasks", "start_step": 2055, "end_step": 2091, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without movement or contact with any objects. | Right hand: reach: Right hand moves empty downward toward the green hollow block placed on the dark table surface."}, {"label": "subtasks", "start_step": 2092, "end_step": 2151, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without movement or contact with any objects. | Right hand: grasp: Right hand contacts the green hollow block, adjusts finger positions and closes fingers to form a grasp, with the block remaining on the table surface."}, {"label": "subtasks", "start_step": 2152, "end_step": 2181, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without movement or contact with any objects. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table surface and moves it to the position directly above the rightmost white cylinder on the wooden block rack."}, {"label": "subtasks", "start_step": 2182, "end_step": 2249, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without movement or contact with any objects. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the top of the rightmost white cylinder and lowers the block to fit snugly onto the cylinder."}, {"label": "subtasks", "start_step": 2250, "end_step": 2279, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without movement or contact with any objects. | Right hand: release: Right hand opens its fingers to release the fitted green hexagonal block, loosening grip on the block."}], "episode_index": 20}
+{"source_uid": "3cbada825a7a66fc", "num_frames": 2566, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 21, "id": "reasoning-language-00001", "text": "Left hand: other:extend_fingers: Left hand slightly extends its fingers while keeping its wrist stationary at the left side of the table. | Right hand: reach: Right hand moves leftward and downward from the right side of the table toward the green hexagonal block in front of the wooden base."}, {"label": "goal", "start_step": 0, "end_step": 130, "id": "a94a8b82-229a-4cd6-9b6c-8eae4c645d67"}, {"label": "valid", "start_step": 0, "end_step": 2530, "id": "6zByE3_yMVnxb2FXvtjSe"}, {"label": "subtasks", "start_step": 22, "end_step": 89, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: reach: Right hand moves leftward and downward from the right side of the table toward the green hexagonal block in front of the wooden base."}, {"label": "subtasks", "start_step": 90, "end_step": 149, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: grasp: Right hand closes its fingers around the green hexagonal block on the table, adjusting to form a stable grasp."}, {"label": "goal", "start_step": 131, "end_step": 258, "id": "1de04336-f810-4dd9-803f-eb9a552cd606"}, {"label": "subtasks", "start_step": 150, "end_step": 179, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the tabletop and transports it above the leftmost purple peg of the wooden rack."}, {"label": "subtasks", "start_step": 180, "end_step": 217, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: mate: Right hand mates the green hexagonal block onto the leftmost purple peg of the wooden rack."}, {"label": "subtasks", "start_step": 218, "end_step": 254, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: hold: Right hand holds the green hexagonal block on the leftmost purple peg without moving."}, {"label": "subtasks", "start_step": 255, "end_step": 277, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: mate: Right hand mates the white cylindrical sleeve onto the purple peg of the wooden pegboard."}, {"label": "goal", "start_step": 259, "end_step": 336, "id": "8f1de58c-98ac-4c3c-bd58-bba272412be7"}, {"label": "subtasks", "start_step": 278, "end_step": 299, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: reach: Right hand reaches toward the white hexagonal piece on the black table surface, moving downward."}, {"label": "subtasks", "start_step": 300, "end_step": 411, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: grasp: Right hand grasps the white hexagonal piece on the black table surface, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 337, "end_step": 538, "id": "5485570d-b47c-4525-bf3a-a2e9b059e25c"}, {"label": "subtasks", "start_step": 412, "end_step": 441, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the black table and moves it toward the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 442, "end_step": 524, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: mate: Right hand aligns the white hexagonal nut with the leftmost purple peg and inserts it onto the peg."}, {"label": "subtasks", "start_step": 525, "end_step": 547, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: mate_release: Right hand mates the white cylindrical part onto the leftmost purple post of the wooden base and releases the part."}, {"label": "goal", "start_step": 539, "end_step": 620, "id": "a9003073-aebf-4d3d-b268-bfd4f7453da9"}, {"label": "subtasks", "start_step": 548, "end_step": 584, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: reach: Right hand moves downward toward the white hexagonal part on the black table surface."}, {"label": "subtasks", "start_step": 585, "end_step": 644, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: grasp: Right hand grasps the white hexagonal part on the black table surface with fingers closing around it."}, {"label": "goal", "start_step": 621, "end_step": 768, "id": "f6970e7d-9dc1-4ae4-acc2-31260e9b48b7"}, {"label": "subtasks", "start_step": 645, "end_step": 667, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal object off the table and transports it toward the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 668, "end_step": 697, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: mate: Right hand aligns the hole of the white hexagonal object with the leftmost purple peg and inserts the object onto the peg."}, {"label": "subtasks", "start_step": 698, "end_step": 741, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: place: Right hand lowers the white hexagonal object along the leftmost purple peg until it rests on the green component below and is supported."}, {"label": "subtasks", "start_step": 742, "end_step": 764, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: release_retreat: Right hand opens fingers to release the white hexagonal object on the leftmost purple peg and moves slightly upward away from the peg."}, {"label": "subtasks", "start_step": 765, "end_step": 779, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: release: Right hand releases the white cylindrical block on the purple peg of the wooden base, with fingers opening and separating from the block."}, {"label": "goal", "start_step": 769, "end_step": 846, "id": "11fb4ae7-a24d-433d-a3d9-35f7bf437281"}, {"label": "subtasks", "start_step": 780, "end_step": 801, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: reach: Right hand moves downward and rightward to approach the white hexagonal block on the table near the wooden base."}, {"label": "subtasks", "start_step": 802, "end_step": 817, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing around the block to form a grip."}, {"label": "subtasks", "start_step": 818, "end_step": 839, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: hold: Right hand holds the white hexagonal block on the table surface without moving."}, {"label": "subtasks", "start_step": 840, "end_step": 861, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: grasp: Right hand grasps the white hexagonal object on the table near the wooden peg rack, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 847, "end_step": 966, "id": "8714e425-fc2a-4f26-9710-19f52ba44752"}, {"label": "subtasks", "start_step": 862, "end_step": 884, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal object from the table and transports it upward to the top of the middle purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 885, "end_step": 937, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: mate: Right hand mates the white hexagonal object onto the middle purple peg by aligning its hole with the peg and lowering it down."}, {"label": "subtasks", "start_step": 938, "end_step": 951, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: release: Right hand releases the white hexagonal object by opening its fingers."}, {"label": "subtasks", "start_step": 952, "end_step": 959, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: idle: Right hand remains empty above the wooden peg rack without moving."}, {"label": "subtasks", "start_step": 960, "end_step": 989, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: mate_release: Right hand mates the white perforated block onto the purple peg of the wooden base and releases the block."}, {"label": "goal", "start_step": 967, "end_step": 1054, "id": "2da3d560-6ac6-494d-91bb-143c61239702"}, {"label": "subtasks", "start_step": 990, "end_step": 1011, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1012, "end_step": 1071, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 1055, "end_step": 1452, "id": "1611146e-4d7a-4294-9d89-3835b76f5821"}, {"label": "subtasks", "start_step": 1072, "end_step": 1094, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table surface and transports it to the position above the right purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1095, "end_step": 1439, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: mate: Right hand aligns the green hexagonal block with the right white hexagonal post along the purple guide rod and makes repeated vertical position adjustments during the assembly process."}, {"label": "subtasks", "start_step": 1440, "end_step": 1469, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: mate_release: Right hand fits the white cylindrical piece onto the green peg on the wooden base and releases its grip."}, {"label": "goal", "start_step": 1453, "end_step": 1530, "id": "5da708ec-b9a8-48fa-8754-61bf33c2fb71"}, {"label": "subtasks", "start_step": 1470, "end_step": 1499, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: reach: Right hand reaches downward toward the white hexagonal piece on the dark table surface."}, {"label": "subtasks", "start_step": 1500, "end_step": 1551, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: grasp: Right hand grasps the white hexagonal piece on the dark table surface, with fingers closing and adjusting around the piece."}, {"label": "goal", "start_step": 1531, "end_step": 1658, "id": "187f2e2d-3172-4548-8d25-e905d30acdf4"}, {"label": "subtasks", "start_step": 1552, "end_step": 1567, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal part from the table surface and transports it towards the wooden peg rack."}, {"label": "subtasks", "start_step": 1568, "end_step": 1649, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: mate: Right hand aligns the white hexagonal part with the peg on the wooden rack and inserts it to complete the fitting."}, {"label": "subtasks", "start_step": 1650, "end_step": 1679, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: release: Right hand releases the white cylindrical block on the wooden peg board, fingers gradually open and separate from the block."}, {"label": "goal", "start_step": 1659, "end_step": 1738, "id": "bbc4ace5-dcc2-41d0-82f8-67e032750422"}, {"label": "subtasks", "start_step": 1680, "end_step": 1694, "id": "reasoning-language-00039", "text": "Left hand: other:hand_pose_adjust: Left hand adjusts its pose by extending fingers upward and slightly rotating the wrist, keeping wrist position unchanged. | Right hand: reach: Right hand moves downward and rightward toward the white hexagonal block on the table, empty-handed."}, {"label": "subtasks", "start_step": 1695, "end_step": 1709, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the frame with extended upward fingers, without moving. | Right hand: reach: Right hand moves downward and rightward toward the white hexagonal block on the table, empty-handed."}, {"label": "subtasks", "start_step": 1710, "end_step": 1747, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the frame with extended upward fingers, without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, fingers close around the block."}, {"label": "goal", "start_step": 1739, "end_step": 1928, "id": "d2017890-b82b-4fc5-bcc9-13099793cbab"}, {"label": "subtasks", "start_step": 1748, "end_step": 1777, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the frame with extended upward fingers, without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it to the position above the purple vertical rod."}, {"label": "subtasks", "start_step": 1778, "end_step": 1874, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the frame with extended upward fingers, without moving. | Right hand: mate_place: Right hand mates the white hexagonal block with the purple vertical rod and places it on the supporting white cylinder."}, {"label": "subtasks", "start_step": 1875, "end_step": 1904, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the frame with extended upward fingers, without moving. | Right hand: release: Right hand releases the white hexagonal block with fingers opening and separating from the block."}, {"label": "subtasks", "start_step": 1905, "end_step": 1919, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the frame with extended upward fingers, without moving. | Right hand: retreat: Right hand retreats upward away from the white hexagonal block."}, {"label": "subtasks", "start_step": 1920, "end_step": 1949, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the frame with extended upward fingers, without moving. | Right hand: release: Right hand releases the white cylindrical block on the top-right of the wooden peg rack, with fingers opening and separating from the block."}, {"label": "goal", "start_step": 1929, "end_step": 2002, "id": "9f7db668-f76c-4814-8cfe-cf999502af48"}, {"label": "subtasks", "start_step": 1950, "end_step": 1971, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the frame with extended upward fingers, without moving. | Right hand: reach: Right hand reaches toward the white hexagonal block on the table surface below the wooden rack."}, {"label": "subtasks", "start_step": 1972, "end_step": 2024, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the frame with extended upward fingers, without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table surface, with fingers closing and adjusting to form a stable grip."}, {"label": "goal", "start_step": 2003, "end_step": 2122, "id": "183cff98-3925-497e-a42a-4fc0d8e480cd"}, {"label": "subtasks", "start_step": 2025, "end_step": 2047, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the frame with extended upward fingers, without moving. | Right hand: lift_transport: Right hand lifts the white perforated hexagonal block off the table and transports it toward the purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 2048, "end_step": 2114, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the frame with extended upward fingers, without moving. | Right hand: mate: Right hand aligns the white perforated hexagonal block with the purple peg on the wooden rack and fits it onto the peg to complete the assembly."}, {"label": "subtasks", "start_step": 2115, "end_step": 2144, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the frame with extended upward fingers, without moving. | Right hand: mate_release: Right hand fits the white cylinder with purple top into the wooden rack and releases it."}, {"label": "goal", "start_step": 2123, "end_step": 2208, "id": "65b0839c-3044-4b1b-be23-ad8f5bfa63ec"}, {"label": "subtasks", "start_step": 2145, "end_step": 2167, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the frame with extended upward fingers, without moving. | Right hand: reach: Right hand moves downward toward the green cube on the dark table surface."}, {"label": "subtasks", "start_step": 2168, "end_step": 2227, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the frame with extended upward fingers, without moving. | Right hand: grasp: Right hand grasps the green cube on the dark table surface with fingers closing around it."}, {"label": "goal", "start_step": 2209, "end_step": 2494, "id": "cee19fac-d204-4696-bedd-58415ce0fa3b"}, {"label": "subtasks", "start_step": 2228, "end_step": 2249, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the frame with extended upward fingers, without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it toward the bottle rack in the middle of the table."}, {"label": "subtasks", "start_step": 2250, "end_step": 2309, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the frame with extended upward fingers, without moving. | Right hand: mate: Right hand aligns the green block with the target white bottle on the rack and fits it onto the bottle."}, {"label": "subtasks", "start_step": 2310, "end_step": 2467, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the frame with extended upward fingers, without moving. | Right hand: other:adjust_assembly: Right hand makes small positional adjustments to the green block on the bottle to ensure proper fitting."}, {"label": "subtasks", "start_step": 2468, "end_step": 2489, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the frame with extended upward fingers, without moving. | Right hand: release: Right hand releases the green block, with fingers opening and separating from the block."}, {"label": "subtasks", "start_step": 2490, "end_step": 2504, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the frame with extended upward fingers, without moving. | Right hand: retreat: Right hand moves slightly away from the green block after releasing it."}, {"label": "home", "start_step": 2531, "end_step": 2565, "id": "hlJ5sShI0HYGshNp1n50i"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 21, "id": "reasoning-language-00001", "text": "Left hand: other:extend_fingers: Left hand slightly extends its fingers while keeping its wrist stationary at the left side of the table. | Right hand: reach: Right hand moves leftward and downward from the right side of the table toward the green hexagonal block in front of the wooden base."}, {"label": "subtasks", "start_step": 22, "end_step": 89, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: reach: Right hand moves leftward and downward from the right side of the table toward the green hexagonal block in front of the wooden base."}, {"label": "subtasks", "start_step": 90, "end_step": 149, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: grasp: Right hand closes its fingers around the green hexagonal block on the table, adjusting to form a stable grasp."}, {"label": "subtasks", "start_step": 150, "end_step": 179, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the tabletop and transports it above the leftmost purple peg of the wooden rack."}, {"label": "subtasks", "start_step": 180, "end_step": 217, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: mate: Right hand mates the green hexagonal block onto the leftmost purple peg of the wooden rack."}, {"label": "subtasks", "start_step": 218, "end_step": 254, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: hold: Right hand holds the green hexagonal block on the leftmost purple peg without moving."}, {"label": "subtasks", "start_step": 255, "end_step": 277, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: mate: Right hand mates the white cylindrical sleeve onto the purple peg of the wooden pegboard."}, {"label": "subtasks", "start_step": 278, "end_step": 299, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: reach: Right hand reaches toward the white hexagonal piece on the black table surface, moving downward."}, {"label": "subtasks", "start_step": 300, "end_step": 411, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: grasp: Right hand grasps the white hexagonal piece on the black table surface, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 412, "end_step": 441, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the black table and moves it toward the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 442, "end_step": 524, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: mate: Right hand aligns the white hexagonal nut with the leftmost purple peg and inserts it onto the peg."}, {"label": "subtasks", "start_step": 525, "end_step": 547, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: mate_release: Right hand mates the white cylindrical part onto the leftmost purple post of the wooden base and releases the part."}, {"label": "subtasks", "start_step": 548, "end_step": 584, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: reach: Right hand moves downward toward the white hexagonal part on the black table surface."}, {"label": "subtasks", "start_step": 585, "end_step": 644, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: grasp: Right hand grasps the white hexagonal part on the black table surface with fingers closing around it."}, {"label": "subtasks", "start_step": 645, "end_step": 667, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal object off the table and transports it toward the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 668, "end_step": 697, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: mate: Right hand aligns the hole of the white hexagonal object with the leftmost purple peg and inserts the object onto the peg."}, {"label": "subtasks", "start_step": 698, "end_step": 741, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: place: Right hand lowers the white hexagonal object along the leftmost purple peg until it rests on the green component below and is supported."}, {"label": "subtasks", "start_step": 742, "end_step": 764, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: release_retreat: Right hand opens fingers to release the white hexagonal object on the leftmost purple peg and moves slightly upward away from the peg."}, {"label": "subtasks", "start_step": 765, "end_step": 779, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: release: Right hand releases the white cylindrical block on the purple peg of the wooden base, with fingers opening and separating from the block."}, {"label": "subtasks", "start_step": 780, "end_step": 801, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: reach: Right hand moves downward and rightward to approach the white hexagonal block on the table near the wooden base."}, {"label": "subtasks", "start_step": 802, "end_step": 817, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing around the block to form a grip."}, {"label": "subtasks", "start_step": 818, "end_step": 839, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: hold: Right hand holds the white hexagonal block on the table surface without moving."}, {"label": "subtasks", "start_step": 840, "end_step": 861, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: grasp: Right hand grasps the white hexagonal object on the table near the wooden peg rack, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 862, "end_step": 884, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal object from the table and transports it upward to the top of the middle purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 885, "end_step": 937, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: mate: Right hand mates the white hexagonal object onto the middle purple peg by aligning its hole with the peg and lowering it down."}, {"label": "subtasks", "start_step": 938, "end_step": 951, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: release: Right hand releases the white hexagonal object by opening its fingers."}, {"label": "subtasks", "start_step": 952, "end_step": 959, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: idle: Right hand remains empty above the wooden peg rack without moving."}, {"label": "subtasks", "start_step": 960, "end_step": 989, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: mate_release: Right hand mates the white perforated block onto the purple peg of the wooden base and releases the block."}, {"label": "subtasks", "start_step": 990, "end_step": 1011, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1012, "end_step": 1071, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1072, "end_step": 1094, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table surface and transports it to the position above the right purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1095, "end_step": 1439, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: mate: Right hand aligns the green hexagonal block with the right white hexagonal post along the purple guide rod and makes repeated vertical position adjustments during the assembly process."}, {"label": "subtasks", "start_step": 1440, "end_step": 1469, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: mate_release: Right hand fits the white cylindrical piece onto the green peg on the wooden base and releases its grip."}, {"label": "subtasks", "start_step": 1470, "end_step": 1499, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: reach: Right hand reaches downward toward the white hexagonal piece on the dark table surface."}, {"label": "subtasks", "start_step": 1500, "end_step": 1551, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: grasp: Right hand grasps the white hexagonal piece on the dark table surface, with fingers closing and adjusting around the piece."}, {"label": "subtasks", "start_step": 1552, "end_step": 1567, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal part from the table surface and transports it towards the wooden peg rack."}, {"label": "subtasks", "start_step": 1568, "end_step": 1649, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: mate: Right hand aligns the white hexagonal part with the peg on the wooden rack and inserts it to complete the fitting."}, {"label": "subtasks", "start_step": 1650, "end_step": 1679, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: release: Right hand releases the white cylindrical block on the wooden peg board, fingers gradually open and separate from the block."}, {"label": "subtasks", "start_step": 1680, "end_step": 1694, "id": "reasoning-language-00039", "text": "Left hand: other:hand_pose_adjust: Left hand adjusts its pose by extending fingers upward and slightly rotating the wrist, keeping wrist position unchanged. | Right hand: reach: Right hand moves downward and rightward toward the white hexagonal block on the table, empty-handed."}, {"label": "subtasks", "start_step": 1695, "end_step": 1709, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the frame with extended upward fingers, without moving. | Right hand: reach: Right hand moves downward and rightward toward the white hexagonal block on the table, empty-handed."}, {"label": "subtasks", "start_step": 1710, "end_step": 1747, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the frame with extended upward fingers, without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, fingers close around the block."}, {"label": "subtasks", "start_step": 1748, "end_step": 1777, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the frame with extended upward fingers, without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it to the position above the purple vertical rod."}, {"label": "subtasks", "start_step": 1778, "end_step": 1874, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the frame with extended upward fingers, without moving. | Right hand: mate_place: Right hand mates the white hexagonal block with the purple vertical rod and places it on the supporting white cylinder."}, {"label": "subtasks", "start_step": 1875, "end_step": 1904, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the frame with extended upward fingers, without moving. | Right hand: release: Right hand releases the white hexagonal block with fingers opening and separating from the block."}, {"label": "subtasks", "start_step": 1905, "end_step": 1919, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the frame with extended upward fingers, without moving. | Right hand: retreat: Right hand retreats upward away from the white hexagonal block."}, {"label": "subtasks", "start_step": 1920, "end_step": 1949, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the frame with extended upward fingers, without moving. | Right hand: release: Right hand releases the white cylindrical block on the top-right of the wooden peg rack, with fingers opening and separating from the block."}, {"label": "subtasks", "start_step": 1950, "end_step": 1971, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the frame with extended upward fingers, without moving. | Right hand: reach: Right hand reaches toward the white hexagonal block on the table surface below the wooden rack."}, {"label": "subtasks", "start_step": 1972, "end_step": 2024, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the frame with extended upward fingers, without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table surface, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2025, "end_step": 2047, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the frame with extended upward fingers, without moving. | Right hand: lift_transport: Right hand lifts the white perforated hexagonal block off the table and transports it toward the purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 2048, "end_step": 2114, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the frame with extended upward fingers, without moving. | Right hand: mate: Right hand aligns the white perforated hexagonal block with the purple peg on the wooden rack and fits it onto the peg to complete the assembly."}, {"label": "subtasks", "start_step": 2115, "end_step": 2144, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the frame with extended upward fingers, without moving. | Right hand: mate_release: Right hand fits the white cylinder with purple top into the wooden rack and releases it."}, {"label": "subtasks", "start_step": 2145, "end_step": 2167, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the frame with extended upward fingers, without moving. | Right hand: reach: Right hand moves downward toward the green cube on the dark table surface."}, {"label": "subtasks", "start_step": 2168, "end_step": 2227, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the frame with extended upward fingers, without moving. | Right hand: grasp: Right hand grasps the green cube on the dark table surface with fingers closing around it."}, {"label": "subtasks", "start_step": 2228, "end_step": 2249, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the frame with extended upward fingers, without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it toward the bottle rack in the middle of the table."}, {"label": "subtasks", "start_step": 2250, "end_step": 2309, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the frame with extended upward fingers, without moving. | Right hand: mate: Right hand aligns the green block with the target white bottle on the rack and fits it onto the bottle."}, {"label": "subtasks", "start_step": 2310, "end_step": 2467, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the frame with extended upward fingers, without moving. | Right hand: other:adjust_assembly: Right hand makes small positional adjustments to the green block on the bottle to ensure proper fitting."}, {"label": "subtasks", "start_step": 2468, "end_step": 2489, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the frame with extended upward fingers, without moving. | Right hand: release: Right hand releases the green block, with fingers opening and separating from the block."}, {"label": "subtasks", "start_step": 2490, "end_step": 2504, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the frame with extended upward fingers, without moving. | Right hand: retreat: Right hand moves slightly away from the green block after releasing it."}], "episode_index": 21}
+{"source_uid": "cef395493526b7b5", "num_frames": 3494, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 81, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves toward the green hexagonal object placed on the black table."}, {"label": "goal", "start_step": 0, "end_step": 176, "id": "6651beef-6e81-4ab4-bdec-813c90a90a99"}, {"label": "valid", "start_step": 0, "end_step": 3459, "id": "RPW4EyqI1KQnjxWSRHQEl"}, {"label": "subtasks", "start_step": 82, "end_step": 194, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand contacts and adjusts fingers to grasp the green hexagonal object on the table."}, {"label": "goal", "start_step": 177, "end_step": 290, "id": "aece149b-6571-47c3-ba0b-74f602c78618"}, {"label": "subtasks", "start_step": 195, "end_step": 217, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it to the position above the leftmost purple post of the test tube rack."}, {"label": "subtasks", "start_step": 218, "end_step": 284, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand mates the green block with the leftmost purple post of the test tube rack, pushing it down to complete the assembly."}, {"label": "subtasks", "start_step": 285, "end_step": 314, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: place_release: Right hand places the white cylindrical block onto the pillar of the wooden base and releases its grip on the block."}, {"label": "goal", "start_step": 291, "end_step": 362, "id": "4b21faef-93bf-47a2-8b65-bf7e20908faf"}, {"label": "subtasks", "start_step": 315, "end_step": 351, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves downwards towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 352, "end_step": 389, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the black table surface."}, {"label": "goal", "start_step": 363, "end_step": 530, "id": "503e5105-9df7-4574-ae3d-116af760297a"}, {"label": "subtasks", "start_step": 390, "end_step": 411, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it to the position above the leftmost purple rod on the green base."}, {"label": "subtasks", "start_step": 412, "end_step": 524, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand mates the white hexagonal block onto the leftmost purple rod of the green base, adjusting position to fit the rod into the block's hole."}, {"label": "subtasks", "start_step": 525, "end_step": 554, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: release: Right hand releases the white hexagonal block on the purple peg of the wooden base."}, {"label": "goal", "start_step": 531, "end_step": 636, "id": "7c8a27f7-f639-43ab-8c3b-80d986d41a71"}, {"label": "subtasks", "start_step": 555, "end_step": 577, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves down towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 578, "end_step": 659, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 637, "end_step": 776, "id": "e164d9b4-2431-4466-8aa7-3157aea503ee"}, {"label": "subtasks", "start_step": 660, "end_step": 689, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it to the upper position of the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 690, "end_step": 801, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand aligns the white hexagonal block with the front-left purple rod and inserts it onto the rod."}, {"label": "goal", "start_step": 777, "end_step": 854, "id": "17c523b3-3707-4c3a-a53b-53894f94185d"}, {"label": "subtasks", "start_step": 802, "end_step": 824, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves downward to reach the white hex block on the black table."}, {"label": "subtasks", "start_step": 825, "end_step": 854, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand closes fingers to grasp the white hex block on the black table."}, {"label": "subtasks", "start_step": 855, "end_step": 869, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift: Right hand lifts the white hexagonal block from the black table surface."}, {"label": "goal", "start_step": 855, "end_step": 1004, "id": "6c673e55-7aba-4fae-864e-030d6fc27084"}, {"label": "subtasks", "start_step": 870, "end_step": 884, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: transport: Right hand transports the white hexagonal block to the position above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 885, "end_step": 944, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and fits the block onto the rod."}, {"label": "subtasks", "start_step": 945, "end_step": 1004, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: press: Right hand presses the white hexagonal block down along the purple rod to fix it in place."}, {"label": "subtasks", "start_step": 1005, "end_step": 1027, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand mates the white ring onto the purple rod on the wooden base."}, {"label": "goal", "start_step": 1005, "end_step": 1082, "id": "ece8fbe3-f7ce-478d-ac26-748c7f54f744"}, {"label": "subtasks", "start_step": 1028, "end_step": 1064, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves downward toward the green hollow block placed on the black table."}, {"label": "subtasks", "start_step": 1065, "end_step": 1079, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand closes fingers to grasp the green hollow block on the black table."}, {"label": "subtasks", "start_step": 1080, "end_step": 1101, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift: Right hand lifts the green hexagonal block from the black table surface."}, {"label": "goal", "start_step": 1083, "end_step": 1208, "id": "c5108970-4059-4745-954d-dfc93ea88cea"}, {"label": "subtasks", "start_step": 1102, "end_step": 1124, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: transport: Right hand transports the green hexagonal block towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1125, "end_step": 1229, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand mates the green hexagonal block onto the purple rod of the wooden base."}, {"label": "goal", "start_step": 1209, "end_step": 1294, "id": "1a6d60c9-01e4-4191-ad43-3d74a0064833"}, {"label": "subtasks", "start_step": 1230, "end_step": 1289, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand reaches toward the white hexagonal block on the dark table surface."}, {"label": "subtasks", "start_step": 1290, "end_step": 1327, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table."}, {"label": "goal", "start_step": 1295, "end_step": 2070, "id": "d7682453-27f0-4eca-ba78-c368ef254605"}, {"label": "subtasks", "start_step": 1328, "end_step": 1371, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block and transports it above the peg on the wooden base."}, {"label": "subtasks", "start_step": 1372, "end_step": 1619, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: release_push: Right hand releases the white hexagonal block and pushes blocks on the black table to adjust their positions."}, {"label": "subtasks", "start_step": 1620, "end_step": 1829, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table with finger adjustments for stable hold."}, {"label": "subtasks", "start_step": 1830, "end_step": 1881, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block and transports it above the target peg on the wooden base."}, {"label": "subtasks", "start_step": 1882, "end_step": 1971, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: place: Right hand places the white hexagonal block onto the target peg on the wooden base."}, {"label": "subtasks", "start_step": 1972, "end_step": 2069, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand adjusts the white hexagonal block to fit firmly onto the target peg."}, {"label": "subtasks", "start_step": 2070, "end_step": 2091, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: place: Right hand places the white cylindrical block onto the purple rod of the wooden base."}, {"label": "goal", "start_step": 2071, "end_step": 2178, "id": "53dccc2a-7e3f-4f20-8424-36ab71bde28f"}, {"label": "subtasks", "start_step": 2092, "end_step": 2137, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 2138, "end_step": 2197, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table."}, {"label": "goal", "start_step": 2179, "end_step": 2308, "id": "2cbd2b49-b6ec-406a-b826-a4c6265e725c"}, {"label": "subtasks", "start_step": 2198, "end_step": 2219, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the white ring from the table and transports it to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2220, "end_step": 2294, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: place: Right hand places the white ring onto the purple rod on the wooden base with slight downward adjustment."}, {"label": "subtasks", "start_step": 2295, "end_step": 2339, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: place_release: Right hand places the white ring onto the purple rod on the wooden base and releases the ring."}, {"label": "goal", "start_step": 2309, "end_step": 2424, "id": "5824e1a2-be74-44a4-8d15-82389de2420b"}, {"label": "subtasks", "start_step": 2340, "end_step": 2414, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves toward the white ring on the black table surface."}, {"label": "subtasks", "start_step": 2415, "end_step": 2444, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, fingers close to adjust and form a stable grip."}, {"label": "goal", "start_step": 2425, "end_step": 2608, "id": "e9b1af19-8531-4a19-889a-84497dc1e0af"}, {"label": "subtasks", "start_step": 2445, "end_step": 2467, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2468, "end_step": 2497, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand aligns the inner hole of the white hexagonal block with the top of the purple rod."}, {"label": "subtasks", "start_step": 2498, "end_step": 2594, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: place: Right hand lowers the white hexagonal block onto the purple rod until the block is fully seated on the rod."}, {"label": "subtasks", "start_step": 2595, "end_step": 2624, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: press: Right hand presses the white block with purple top on the rightmost column of the wooden base."}, {"label": "goal", "start_step": 2609, "end_step": 2704, "id": "de2e7889-4e62-4d40-87b2-9c47584f3a4a"}, {"label": "subtasks", "start_step": 2625, "end_step": 2654, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves downward towards the green cubic block on the black table surface."}, {"label": "subtasks", "start_step": 2655, "end_step": 2699, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand closes its fingers to grasp the green cubic block on the black table."}, {"label": "subtasks", "start_step": 2700, "end_step": 2729, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: release: Right hand releases the green block it is holding onto the right side of the table."}, {"label": "goal", "start_step": 2705, "end_step": 3398, "id": "ff294060-cb22-466a-b720-1b0d3d42e401"}, {"label": "subtasks", "start_step": 2730, "end_step": 3111, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: other:adjust_block_position: Right hand adjusts the position of the green block on the table with slight repeated touches and pushes."}, {"label": "subtasks", "start_step": 3112, "end_step": 3127, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand grasps the green block on the table."}, {"label": "subtasks", "start_step": 3128, "end_step": 3179, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the green block from the table and transports it towards the rightmost test tube on the wooden rack."}, {"label": "subtasks", "start_step": 3180, "end_step": 3381, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand aligns the green block with the rightmost test tube and fits it onto the test tube to complete assembly."}, {"label": "subtasks", "start_step": 3382, "end_step": 3404, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: release: Right hand releases the green block which is now fitted on the test tube."}, {"label": "home", "start_step": 3460, "end_step": 3493, "id": "GvhBj42WhSEUKFcxBYjsS"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 81, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves toward the green hexagonal object placed on the black table."}, {"label": "subtasks", "start_step": 82, "end_step": 194, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand contacts and adjusts fingers to grasp the green hexagonal object on the table."}, {"label": "subtasks", "start_step": 195, "end_step": 217, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it to the position above the leftmost purple post of the test tube rack."}, {"label": "subtasks", "start_step": 218, "end_step": 284, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand mates the green block with the leftmost purple post of the test tube rack, pushing it down to complete the assembly."}, {"label": "subtasks", "start_step": 285, "end_step": 314, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: place_release: Right hand places the white cylindrical block onto the pillar of the wooden base and releases its grip on the block."}, {"label": "subtasks", "start_step": 315, "end_step": 351, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves downwards towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 352, "end_step": 389, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 390, "end_step": 411, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it to the position above the leftmost purple rod on the green base."}, {"label": "subtasks", "start_step": 412, "end_step": 524, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand mates the white hexagonal block onto the leftmost purple rod of the green base, adjusting position to fit the rod into the block's hole."}, {"label": "subtasks", "start_step": 525, "end_step": 554, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: release: Right hand releases the white hexagonal block on the purple peg of the wooden base."}, {"label": "subtasks", "start_step": 555, "end_step": 577, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves down towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 578, "end_step": 659, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 660, "end_step": 689, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it to the upper position of the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 690, "end_step": 801, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand aligns the white hexagonal block with the front-left purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 802, "end_step": 824, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves downward to reach the white hex block on the black table."}, {"label": "subtasks", "start_step": 825, "end_step": 854, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand closes fingers to grasp the white hex block on the black table."}, {"label": "subtasks", "start_step": 855, "end_step": 869, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift: Right hand lifts the white hexagonal block from the black table surface."}, {"label": "subtasks", "start_step": 870, "end_step": 884, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: transport: Right hand transports the white hexagonal block to the position above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 885, "end_step": 944, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and fits the block onto the rod."}, {"label": "subtasks", "start_step": 945, "end_step": 1004, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: press: Right hand presses the white hexagonal block down along the purple rod to fix it in place."}, {"label": "subtasks", "start_step": 1005, "end_step": 1027, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand mates the white ring onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1028, "end_step": 1064, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves downward toward the green hollow block placed on the black table."}, {"label": "subtasks", "start_step": 1065, "end_step": 1079, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand closes fingers to grasp the green hollow block on the black table."}, {"label": "subtasks", "start_step": 1080, "end_step": 1101, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift: Right hand lifts the green hexagonal block from the black table surface."}, {"label": "subtasks", "start_step": 1102, "end_step": 1124, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: transport: Right hand transports the green hexagonal block towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1125, "end_step": 1229, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand mates the green hexagonal block onto the purple rod of the wooden base."}, {"label": "subtasks", "start_step": 1230, "end_step": 1289, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand reaches toward the white hexagonal block on the dark table surface."}, {"label": "subtasks", "start_step": 1290, "end_step": 1327, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 1328, "end_step": 1371, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block and transports it above the peg on the wooden base."}, {"label": "subtasks", "start_step": 1372, "end_step": 1619, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: release_push: Right hand releases the white hexagonal block and pushes blocks on the black table to adjust their positions."}, {"label": "subtasks", "start_step": 1620, "end_step": 1829, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table with finger adjustments for stable hold."}, {"label": "subtasks", "start_step": 1830, "end_step": 1881, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block and transports it above the target peg on the wooden base."}, {"label": "subtasks", "start_step": 1882, "end_step": 1971, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: place: Right hand places the white hexagonal block onto the target peg on the wooden base."}, {"label": "subtasks", "start_step": 1972, "end_step": 2069, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand adjusts the white hexagonal block to fit firmly onto the target peg."}, {"label": "subtasks", "start_step": 2070, "end_step": 2091, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: place: Right hand places the white cylindrical block onto the purple rod of the wooden base."}, {"label": "subtasks", "start_step": 2092, "end_step": 2137, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 2138, "end_step": 2197, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 2198, "end_step": 2219, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the white ring from the table and transports it to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2220, "end_step": 2294, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: place: Right hand places the white ring onto the purple rod on the wooden base with slight downward adjustment."}, {"label": "subtasks", "start_step": 2295, "end_step": 2339, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: place_release: Right hand places the white ring onto the purple rod on the wooden base and releases the ring."}, {"label": "subtasks", "start_step": 2340, "end_step": 2414, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves toward the white ring on the black table surface."}, {"label": "subtasks", "start_step": 2415, "end_step": 2444, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, fingers close to adjust and form a stable grip."}, {"label": "subtasks", "start_step": 2445, "end_step": 2467, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2468, "end_step": 2497, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand aligns the inner hole of the white hexagonal block with the top of the purple rod."}, {"label": "subtasks", "start_step": 2498, "end_step": 2594, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: place: Right hand lowers the white hexagonal block onto the purple rod until the block is fully seated on the rod."}, {"label": "subtasks", "start_step": 2595, "end_step": 2624, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: press: Right hand presses the white block with purple top on the rightmost column of the wooden base."}, {"label": "subtasks", "start_step": 2625, "end_step": 2654, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves downward towards the green cubic block on the black table surface."}, {"label": "subtasks", "start_step": 2655, "end_step": 2699, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand closes its fingers to grasp the green cubic block on the black table."}, {"label": "subtasks", "start_step": 2700, "end_step": 2729, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: release: Right hand releases the green block it is holding onto the right side of the table."}, {"label": "subtasks", "start_step": 2730, "end_step": 3111, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: other:adjust_block_position: Right hand adjusts the position of the green block on the table with slight repeated touches and pushes."}, {"label": "subtasks", "start_step": 3112, "end_step": 3127, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand grasps the green block on the table."}, {"label": "subtasks", "start_step": 3128, "end_step": 3179, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the green block from the table and transports it towards the rightmost test tube on the wooden rack."}, {"label": "subtasks", "start_step": 3180, "end_step": 3381, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand aligns the green block with the rightmost test tube and fits it onto the test tube to complete assembly."}, {"label": "subtasks", "start_step": 3382, "end_step": 3404, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: release: Right hand releases the green block which is now fitted on the test tube."}], "episode_index": 22}
+{"source_uid": "f9fc3b7e0ef1a6e0", "num_frames": 3673, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 37, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: idle: Right hand remains empty at the upper right initial position without moving."}, {"label": "goal", "start_step": 0, "end_step": 116, "id": "60cb4546-9d95-47f4-831e-ebd45cd5b36c"}, {"label": "valid", "start_step": 0, "end_step": 3639, "id": "DjQp8asEGxvAzz5CP_7Jm"}, {"label": "subtasks", "start_step": 38, "end_step": 81, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves downward and leftward toward the green hexagonal block near the wooden base, with fingers extended as it approaches the target."}, {"label": "subtasks", "start_step": 82, "end_step": 134, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand closes fingers around the green hexagonal block on the table, making minor adjustments to finger positions to form a grip."}, {"label": "goal", "start_step": 117, "end_step": 236, "id": "984f4343-ed0a-4ef6-a296-89e5b36b25aa"}, {"label": "subtasks", "start_step": 135, "end_step": 149, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift: Right hand moves vertically upward, lifting the grasped green hexagonal block completely away from the table surface."}, {"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 workspace without moving. | Right hand: transport: Right hand carries the lifted green hexagonal block upward toward the wooden peg rack, positioning the block directly above an unoccupied purple peg."}, {"label": "subtasks", "start_step": 172, "end_step": 201, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple peg, lowering the block to fit snugly onto the peg."}, {"label": "subtasks", "start_step": 202, "end_step": 224, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple peg without any observable movement of the hand or block."}, {"label": "subtasks", "start_step": 225, "end_step": 277, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves downward from the area above the wooden peg board toward the white hexagonal nut placed on the black table surface."}, {"label": "goal", "start_step": 237, "end_step": 292, "id": "9c1d4ef8-bb2a-416e-98b1-aa631717dc94"}, {"label": "subtasks", "start_step": 278, "end_step": 314, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand closes its fingers around the white hexagonal nut on the table to form a stable grip on the nut."}, {"label": "goal", "start_step": 293, "end_step": 432, "id": "bd0ded0e-3f00-4c3c-b64e-e53d73a4e9ed"}, {"label": "subtasks", "start_step": 315, "end_step": 337, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward to a position directly above the empty purple peg on the wooden peg board."}, {"label": "subtasks", "start_step": 338, "end_step": 367, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the target purple peg and lowers the nut to fit it onto the peg."}, {"label": "subtasks", "start_step": 368, "end_step": 419, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: hold: Right hand holds the white hexagonal nut fitted on the purple peg without observable movement of the hand, fingers or the nut."}, {"label": "subtasks", "start_step": 420, "end_step": 449, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate_release: Right hand holds the white hexagonal nut, fits it onto the purple rod on the light wooden base and releases the nut."}, {"label": "goal", "start_step": 433, "end_step": 512, "id": "b9893437-6368-4bc0-9e69-353611c33dee"}, {"label": "subtasks", "start_step": 450, "end_step": 479, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves downward with an empty hand toward the front white hexagonal nut on the black table surface."}, {"label": "subtasks", "start_step": 480, "end_step": 531, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand adjusts finger positions and closes fingers around the front white hexagonal nut on the black table to form a grip."}, {"label": "goal", "start_step": 513, "end_step": 642, "id": "36c463d8-e1a0-4306-91ed-5d67419e87bc"}, {"label": "subtasks", "start_step": 532, "end_step": 561, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal nut completely off the table and moves it upward to the position directly above the target purple rod on the wooden peg rack."}, {"label": "subtasks", "start_step": 562, "end_step": 629, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand aligns the white hexagonal nut with the target purple rod and lowers the nut to fit onto the rod, establishing the assembly connection."}, {"label": "subtasks", "start_step": 630, "end_step": 651, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: press: Right hand presses downward on the top of the topmost white hexagonal block on the purple peg of the assembly stand to secure it fully in place."}, {"label": "goal", "start_step": 643, "end_step": 716, "id": "cc0a792a-6eed-47a3-9349-62ae7dce32e3"}, {"label": "subtasks", "start_step": 652, "end_step": 681, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves empty downward toward the white hexagonal block placed on the table directly in front of the assembly stand."}, {"label": "subtasks", "start_step": 682, "end_step": 741, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand closes fingers around the target white hexagonal block on the table, adjusting finger contact positions to form a stable grasp."}, {"label": "goal", "start_step": 717, "end_step": 964, "id": "27478638-eec2-4209-822f-aeaf1fa163c9"}, {"label": "subtasks", "start_step": 742, "end_step": 764, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block completely off the table surface and moves it upward to position directly over the purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 765, "end_step": 951, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand adjusts the position and orientation of the white hexagonal block to align its central hole with the purple vertical rod, then lowers the block to fit it onto the rod until it rests securely on the lower stacked block."}, {"label": "subtasks", "start_step": 952, "end_step": 959, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: release: Right hand gradually opens its fingers to release the fitted white hexagonal block, separating the hand from the assembled block."}, {"label": "subtasks", "start_step": 960, "end_step": 1027, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves downward from its initial position above the wooden block stand toward the green hexagonal block placed on the black table surface in front of the stand, with fingers held open."}, {"label": "goal", "start_step": 965, "end_step": 1026, "id": "e0fe2e51-8958-4a21-8b28-834e493c28db"}, {"label": "goal", "start_step": 1027, "end_step": 1492, "id": "43b46b89-ee5b-4e76-9153-201329aa3dfd"}, {"label": "subtasks", "start_step": 1028, "end_step": 1041, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand closes its fingers around the green hexagonal block on the table to form a stable grip on the block."}, {"label": "subtasks", "start_step": 1042, "end_step": 1071, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift_transport: Right hand lifts the gripped green hexagonal block completely off the table surface, then moves it upward to position directly above an empty purple vertical peg on the block stand."}, {"label": "subtasks", "start_step": 1072, "end_step": 1191, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand makes small positional adjustments to the green hexagonal block to align its central hole with the purple peg, then lowers the block slightly in an attempt to fit it onto the peg before detecting misalignment."}, {"label": "subtasks", "start_step": 1192, "end_step": 1274, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reorient: Right hand lifts the green hexagonal block slightly above the purple peg and rotates the block slightly to adjust its angular alignment for proper fitting onto the peg."}, {"label": "subtasks", "start_step": 1275, "end_step": 1424, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand lowers the reoriented green hexagonal block down along the purple peg until the block rests securely on the white hexagonal block already positioned on the peg."}, {"label": "subtasks", "start_step": 1425, "end_step": 1469, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: hold: Right hand holds the seated green hexagonal block on the purple peg without visible movement of the hand or the block."}, {"label": "subtasks", "start_step": 1470, "end_step": 1507, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: release: Right hand opens its fingers gradually to release the grip on the green hexagonal block positioned on the purple peg."}, {"label": "goal", "start_step": 1493, "end_step": 1578, "id": "a942ee04-bc96-485e-ab65-5dadb031cae2"}, {"label": "subtasks", "start_step": 1508, "end_step": 1544, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves empty downward from the assembly rack toward the white hexagonal block resting on the table near the green block."}, {"label": "subtasks", "start_step": 1545, "end_step": 1574, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand closes fingers around the target white hexagonal block on the table, adjusting finger contact positions to establish a stable grasp."}, {"label": "subtasks", "start_step": 1575, "end_step": 1597, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift: Right hand holds the white hexagonal nut resting on the table surface, lifts it upward until the nut is completely separated from the table."}, {"label": "goal", "start_step": 1579, "end_step": 1974, "id": "324ae6a2-5242-41e5-bd35-ad7a5a1bd8cc"}, {"label": "subtasks", "start_step": 1598, "end_step": 1627, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: transport: Right hand carries the lifted white hexagonal nut, moves it toward the wooden assembly base until it is positioned directly above the purple post."}, {"label": "subtasks", "start_step": 1628, "end_step": 1941, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple post, makes slight finger and wrist adjustments to stabilize grip, and lowers the nut to fit onto the post."}, {"label": "subtasks", "start_step": 1942, "end_step": 1964, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: hold: Right hand holds the white hexagonal nut fitted on the purple post without any observable movement of the hand or the nut."}, {"label": "subtasks", "start_step": 1965, "end_step": 2024, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves downward and slightly rightward toward the upper white hexagonal nut placed to the right of the wooden block base, with fingers held slightly open and no contact with the target nut."}, {"label": "goal", "start_step": 1975, "end_step": 2072, "id": "5971473a-d39e-41e4-9d5c-13d0b471ac2a"}, {"label": "subtasks", "start_step": 2025, "end_step": 2069, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand makes contact with the upper white hexagonal nut on the table, closing fingers and making small positional adjustments to form a grip on the nut."}, {"label": "subtasks", "start_step": 2070, "end_step": 2084, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: hold: Right hand holds the white hexagonal nut resting on the dark table surface to the right of the wooden block stand, with no visible movement of the hand or the nut."}, {"label": "goal", "start_step": 2073, "end_step": 2214, "id": "25aa40f8-1dcc-4d21-9536-e13eba868aab"}, {"label": "subtasks", "start_step": 2085, "end_step": 2114, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and transports it upward then leftward to the position directly above the purple rod mounted on the wooden block stand."}, {"label": "subtasks", "start_step": 2115, "end_step": 2167, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: place: Right hand lowers the white hexagonal nut downward to place it onto the purple rod, fitting the nut over the rod until it rests stably on the stacked blocks beneath."}, {"label": "subtasks", "start_step": 2168, "end_step": 2181, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: release: Right hand opens its fingers to release the placed white hexagonal nut, breaking contact with the nut surface."}, {"label": "subtasks", "start_step": 2182, "end_step": 2204, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: retreat: Right hand moves while empty downward and rightward to retreat from the area adjacent to the placed nut on the wooden stand."}, {"label": "subtasks", "start_step": 2205, "end_step": 2257, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves downward and slightly left from the position adjacent to the purple rod on the wooden block rack toward the small white hexagonal block resting on the dark table surface."}, {"label": "goal", "start_step": 2215, "end_step": 2290, "id": "fb657332-4ba0-4f93-b417-f370a3c18776"}, {"label": "subtasks", "start_step": 2258, "end_step": 2279, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand closes fingers around the small white hexagonal block on the dark table surface to establish a grip, with the block remaining in contact with the table surface."}, {"label": "subtasks", "start_step": 2280, "end_step": 2309, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: hold: Right hand holds the white hexagonal block on the dark table surface near the green block without moving."}, {"label": "goal", "start_step": 2291, "end_step": 2510, "id": "7263ac10-dc04-4db3-8374-f00311b385ec"}, {"label": "subtasks", "start_step": 2310, "end_step": 2331, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and transports it upward to position above the purple peg on the wooden block rack."}, {"label": "subtasks", "start_step": 2332, "end_step": 2467, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand adjusts the position of the white hexagonal block to align with and mate onto the purple peg on the wooden block rack."}, {"label": "subtasks", "start_step": 2468, "end_step": 2504, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: release: Right hand opens its fingers to release the mated white hexagonal block from its grasp."}, {"label": "subtasks", "start_step": 2505, "end_step": 2557, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves diagonally downward and rightward across the dark table surface toward the green square block, with the index finger extended and no contact with the target block."}, {"label": "goal", "start_step": 2511, "end_step": 2610, "id": "a4bfc48b-a8be-4b2e-ae8c-7e09b237cdf0"}, {"label": "subtasks", "start_step": 2558, "end_step": 2609, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand makes contact with the green square block on the table, adjusting finger positions and closing fingers around the block to establish a grasp, with continuous slight finger movements during the period."}, {"label": "subtasks", "start_step": 2610, "end_step": 2631, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift: Right hand holds the green square block and lifts it upward from the dark table surface."}, {"label": "goal", "start_step": 2611, "end_step": 3584, "id": "2549c015-691b-4bc5-b5d3-27d50fa8e1d0"}, {"label": "subtasks", "start_step": 2632, "end_step": 2661, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: transport: Right hand carries the green square block upward and leftward to the area above the purple peg on the wooden block holder."}, {"label": "subtasks", "start_step": 2662, "end_step": 3539, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand adjusts the position and orientation of the green square block, aligns its central hole with the purple peg, and gradually lowers the block to fit onto the peg with small wrist and finger adjustments."}, {"label": "subtasks", "start_step": 3540, "end_step": 3584, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: place: Right hand lowers the green square block fully onto the purple peg until the block is stably supported on the holder."}, {"label": "home", "start_step": 3640, "end_step": 3672, "id": "ybZN5NB6O2sEpaMz9LqBz"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 37, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: idle: Right hand remains empty at the upper right initial position without moving."}, {"label": "subtasks", "start_step": 38, "end_step": 81, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves downward and leftward toward the green hexagonal block near the wooden base, with fingers extended as it approaches the target."}, {"label": "subtasks", "start_step": 82, "end_step": 134, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand closes fingers around the green hexagonal block on the table, making minor adjustments to finger positions to form a grip."}, {"label": "subtasks", "start_step": 135, "end_step": 149, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift: Right hand moves vertically upward, lifting the grasped green hexagonal block completely away from the table surface."}, {"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 workspace without moving. | Right hand: transport: Right hand carries the lifted green hexagonal block upward toward the wooden peg rack, positioning the block directly above an unoccupied purple peg."}, {"label": "subtasks", "start_step": 172, "end_step": 201, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple peg, lowering the block to fit snugly onto the peg."}, {"label": "subtasks", "start_step": 202, "end_step": 224, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple peg without any observable movement of the hand or block."}, {"label": "subtasks", "start_step": 225, "end_step": 277, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves downward from the area above the wooden peg board toward the white hexagonal nut placed on the black table surface."}, {"label": "subtasks", "start_step": 278, "end_step": 314, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand closes its fingers around the white hexagonal nut on the table to form a stable grip on the nut."}, {"label": "subtasks", "start_step": 315, "end_step": 337, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward to a position directly above the empty purple peg on the wooden peg board."}, {"label": "subtasks", "start_step": 338, "end_step": 367, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the target purple peg and lowers the nut to fit it onto the peg."}, {"label": "subtasks", "start_step": 368, "end_step": 419, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: hold: Right hand holds the white hexagonal nut fitted on the purple peg without observable movement of the hand, fingers or the nut."}, {"label": "subtasks", "start_step": 420, "end_step": 449, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate_release: Right hand holds the white hexagonal nut, fits it onto the purple rod on the light wooden base and releases the nut."}, {"label": "subtasks", "start_step": 450, "end_step": 479, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves downward with an empty hand toward the front white hexagonal nut on the black table surface."}, {"label": "subtasks", "start_step": 480, "end_step": 531, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand adjusts finger positions and closes fingers around the front white hexagonal nut on the black table to form a grip."}, {"label": "subtasks", "start_step": 532, "end_step": 561, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal nut completely off the table and moves it upward to the position directly above the target purple rod on the wooden peg rack."}, {"label": "subtasks", "start_step": 562, "end_step": 629, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand aligns the white hexagonal nut with the target purple rod and lowers the nut to fit onto the rod, establishing the assembly connection."}, {"label": "subtasks", "start_step": 630, "end_step": 651, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: press: Right hand presses downward on the top of the topmost white hexagonal block on the purple peg of the assembly stand to secure it fully in place."}, {"label": "subtasks", "start_step": 652, "end_step": 681, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves empty downward toward the white hexagonal block placed on the table directly in front of the assembly stand."}, {"label": "subtasks", "start_step": 682, "end_step": 741, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand closes fingers around the target white hexagonal block on the table, adjusting finger contact positions to form a stable grasp."}, {"label": "subtasks", "start_step": 742, "end_step": 764, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block completely off the table surface and moves it upward to position directly over the purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 765, "end_step": 951, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand adjusts the position and orientation of the white hexagonal block to align its central hole with the purple vertical rod, then lowers the block to fit it onto the rod until it rests securely on the lower stacked block."}, {"label": "subtasks", "start_step": 952, "end_step": 959, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: release: Right hand gradually opens its fingers to release the fitted white hexagonal block, separating the hand from the assembled block."}, {"label": "subtasks", "start_step": 960, "end_step": 1027, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves downward from its initial position above the wooden block stand toward the green hexagonal block placed on the black table surface in front of the stand, with fingers held open."}, {"label": "subtasks", "start_step": 1028, "end_step": 1041, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand closes its fingers around the green hexagonal block on the table to form a stable grip on the block."}, {"label": "subtasks", "start_step": 1042, "end_step": 1071, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift_transport: Right hand lifts the gripped green hexagonal block completely off the table surface, then moves it upward to position directly above an empty purple vertical peg on the block stand."}, {"label": "subtasks", "start_step": 1072, "end_step": 1191, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand makes small positional adjustments to the green hexagonal block to align its central hole with the purple peg, then lowers the block slightly in an attempt to fit it onto the peg before detecting misalignment."}, {"label": "subtasks", "start_step": 1192, "end_step": 1274, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reorient: Right hand lifts the green hexagonal block slightly above the purple peg and rotates the block slightly to adjust its angular alignment for proper fitting onto the peg."}, {"label": "subtasks", "start_step": 1275, "end_step": 1424, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand lowers the reoriented green hexagonal block down along the purple peg until the block rests securely on the white hexagonal block already positioned on the peg."}, {"label": "subtasks", "start_step": 1425, "end_step": 1469, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: hold: Right hand holds the seated green hexagonal block on the purple peg without visible movement of the hand or the block."}, {"label": "subtasks", "start_step": 1470, "end_step": 1507, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: release: Right hand opens its fingers gradually to release the grip on the green hexagonal block positioned on the purple peg."}, {"label": "subtasks", "start_step": 1508, "end_step": 1544, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves empty downward from the assembly rack toward the white hexagonal block resting on the table near the green block."}, {"label": "subtasks", "start_step": 1545, "end_step": 1574, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand closes fingers around the target white hexagonal block on the table, adjusting finger contact positions to establish a stable grasp."}, {"label": "subtasks", "start_step": 1575, "end_step": 1597, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift: Right hand holds the white hexagonal nut resting on the table surface, lifts it upward until the nut is completely separated from the table."}, {"label": "subtasks", "start_step": 1598, "end_step": 1627, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: transport: Right hand carries the lifted white hexagonal nut, moves it toward the wooden assembly base until it is positioned directly above the purple post."}, {"label": "subtasks", "start_step": 1628, "end_step": 1941, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple post, makes slight finger and wrist adjustments to stabilize grip, and lowers the nut to fit onto the post."}, {"label": "subtasks", "start_step": 1942, "end_step": 1964, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: hold: Right hand holds the white hexagonal nut fitted on the purple post without any observable movement of the hand or the nut."}, {"label": "subtasks", "start_step": 1965, "end_step": 2024, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves downward and slightly rightward toward the upper white hexagonal nut placed to the right of the wooden block base, with fingers held slightly open and no contact with the target nut."}, {"label": "subtasks", "start_step": 2025, "end_step": 2069, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand makes contact with the upper white hexagonal nut on the table, closing fingers and making small positional adjustments to form a grip on the nut."}, {"label": "subtasks", "start_step": 2070, "end_step": 2084, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: hold: Right hand holds the white hexagonal nut resting on the dark table surface to the right of the wooden block stand, with no visible movement of the hand or the nut."}, {"label": "subtasks", "start_step": 2085, "end_step": 2114, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and transports it upward then leftward to the position directly above the purple rod mounted on the wooden block stand."}, {"label": "subtasks", "start_step": 2115, "end_step": 2167, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: place: Right hand lowers the white hexagonal nut downward to place it onto the purple rod, fitting the nut over the rod until it rests stably on the stacked blocks beneath."}, {"label": "subtasks", "start_step": 2168, "end_step": 2181, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: release: Right hand opens its fingers to release the placed white hexagonal nut, breaking contact with the nut surface."}, {"label": "subtasks", "start_step": 2182, "end_step": 2204, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: retreat: Right hand moves while empty downward and rightward to retreat from the area adjacent to the placed nut on the wooden stand."}, {"label": "subtasks", "start_step": 2205, "end_step": 2257, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves downward and slightly left from the position adjacent to the purple rod on the wooden block rack toward the small white hexagonal block resting on the dark table surface."}, {"label": "subtasks", "start_step": 2258, "end_step": 2279, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand closes fingers around the small white hexagonal block on the dark table surface to establish a grip, with the block remaining in contact with the table surface."}, {"label": "subtasks", "start_step": 2280, "end_step": 2309, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: hold: Right hand holds the white hexagonal block on the dark table surface near the green block without moving."}, {"label": "subtasks", "start_step": 2310, "end_step": 2331, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and transports it upward to position above the purple peg on the wooden block rack."}, {"label": "subtasks", "start_step": 2332, "end_step": 2467, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand adjusts the position of the white hexagonal block to align with and mate onto the purple peg on the wooden block rack."}, {"label": "subtasks", "start_step": 2468, "end_step": 2504, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: release: Right hand opens its fingers to release the mated white hexagonal block from its grasp."}, {"label": "subtasks", "start_step": 2505, "end_step": 2557, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves diagonally downward and rightward across the dark table surface toward the green square block, with the index finger extended and no contact with the target block."}, {"label": "subtasks", "start_step": 2558, "end_step": 2609, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand makes contact with the green square block on the table, adjusting finger positions and closing fingers around the block to establish a grasp, with continuous slight finger movements during the period."}, {"label": "subtasks", "start_step": 2610, "end_step": 2631, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift: Right hand holds the green square block and lifts it upward from the dark table surface."}, {"label": "subtasks", "start_step": 2632, "end_step": 2661, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: transport: Right hand carries the green square block upward and leftward to the area above the purple peg on the wooden block holder."}, {"label": "subtasks", "start_step": 2662, "end_step": 3539, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand adjusts the position and orientation of the green square block, aligns its central hole with the purple peg, and gradually lowers the block to fit onto the peg with small wrist and finger adjustments."}, {"label": "subtasks", "start_step": 3540, "end_step": 3584, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: place: Right hand lowers the green square block fully onto the purple peg until the block is stably supported on the holder."}], "episode_index": 23}
+{"source_uid": "7ce2d0520a99df38", "num_frames": 4568, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_hand_pose: Left hand slightly rotates its wrist and opens fingers while staying at the left side of the table, with no contact with any object. | Right hand: reach: Right hand moves leftward and downward from the right side of the table toward the green hexagonal nut on the left part of the table, with fingers open."}, {"label": "goal", "start_step": 0, "end_step": 130, "id": "419a5f9c-eda9-4e05-ba45-bda6fafdccc8"}, {"label": "valid", "start_step": 0, "end_step": 4535, "id": "0Zht99qEYZX8dit3MaseB"}, {"label": "subtasks", "start_step": 30, "end_step": 74, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: reach: Right hand moves leftward and downward from the right side of the table toward the green hexagonal nut on the left part of the table, with fingers open."}, {"label": "subtasks", "start_step": 75, "end_step": 97, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: grasp: Right hand closes its fingers to grasp the green hexagonal nut on the table surface."}, {"label": "subtasks", "start_step": 98, "end_step": 119, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: hold: Right hand holds the green hexagonal nut on the table without any movement."}, {"label": "subtasks", "start_step": 120, "end_step": 141, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table, adjusting its fingers to form a stable grip."}, {"label": "goal", "start_step": 131, "end_step": 258, "id": "0ce40bff-d157-48d6-b0e7-2fe193a3f1f7"}, {"label": "subtasks", "start_step": 142, "end_step": 164, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it upward and rightward to the position above the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 165, "end_step": 179, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: mate: Right hand aligns the green hexagonal block with the leftmost purple peg and fits the block onto the peg."}, {"label": "subtasks", "start_step": 180, "end_step": 209, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: press: Right hand presses the green hexagonal block downward along the leftmost purple peg to seat it firmly."}, {"label": "subtasks", "start_step": 210, "end_step": 247, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: hold: Right hand holds the green hexagonal block on the leftmost purple peg without moving."}, {"label": "subtasks", "start_step": 248, "end_step": 254, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: release_retreat: Right hand releases the green hexagonal block while moving slightly upward away from the peg."}, {"label": "subtasks", "start_step": 255, "end_step": 284, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: reach: Right hand moves downward from the wooden peg board area toward the white hexagonal piece on the table, without contacting the piece."}, {"label": "goal", "start_step": 259, "end_step": 310, "id": "f9f59897-8331-43a9-9c1f-5d1d5abcd989"}, {"label": "subtasks", "start_step": 285, "end_step": 321, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: grasp: Right hand closes its fingers around the white hexagonal piece on the table and adjusts its grip to form a stable grasp."}, {"label": "goal", "start_step": 311, "end_step": 476, "id": "5ef41361-7738-45b1-9384-4083b7ed620f"}, {"label": "subtasks", "start_step": 322, "end_step": 351, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal piece off the table and moves it upward and toward the wooden peg board to position above the target peg."}, {"label": "subtasks", "start_step": 352, "end_step": 487, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: mate: Right hand aligns the white hexagonal piece with the target peg on the wooden board and lowers it onto the peg, making fine adjustments to the assembly position."}, {"label": "goal", "start_step": 477, "end_step": 540, "id": "1a61f9c1-205e-4bce-8de1-1eba4d1c2f84"}, {"label": "subtasks", "start_step": 488, "end_step": 509, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 510, "end_step": 554, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface with fingers adjusting to stabilize the grip."}, {"label": "goal", "start_step": 541, "end_step": 850, "id": "55267f3c-11a9-4e11-a192-d6b26ed592a8"}, {"label": "subtasks", "start_step": 555, "end_step": 569, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal object from the table and transports it to the upper left of the wooden peg rack."}, {"label": "subtasks", "start_step": 570, "end_step": 614, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: mate: Right hand aligns the white hexagonal object with the leftmost purple peg of the wooden rack and fits it onto the peg."}, {"label": "subtasks", "start_step": 615, "end_step": 659, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: press: Right hand presses the white hexagonal object downward along the purple peg to adjust its position."}, {"label": "subtasks", "start_step": 660, "end_step": 839, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: hold: Right hand holds the white hexagonal object on the leftmost purple peg of the wooden rack without moving."}, {"label": "subtasks", "start_step": 840, "end_step": 861, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: release: Right hand releases the white cylindrical block on the rightmost purple peg, with fingers opening from closed position."}, {"label": "goal", "start_step": 851, "end_step": 926, "id": "05c84e7b-cf4b-4ea8-82d5-ebbe100d60ef"}, {"label": "subtasks", "start_step": 862, "end_step": 891, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the table near the peg base."}, {"label": "subtasks", "start_step": 892, "end_step": 937, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing around the block to adjust the grip."}, {"label": "goal", "start_step": 927, "end_step": 1462, "id": "aea161bc-4cbb-4349-9834-42d007193b6d"}, {"label": "subtasks", "start_step": 938, "end_step": 959, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it toward the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 960, "end_step": 1454, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg and adjusts its vertical position along the peg repeatedly."}, {"label": "subtasks", "start_step": 1455, "end_step": 1477, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: release: Right hand releases the white hollow cylinder on the purple peg of the wooden base, with fingers opening from a closed grip."}, {"label": "goal", "start_step": 1463, "end_step": 1550, "id": "429b950a-6082-4e19-a469-e7bc50e47ffb"}, {"label": "subtasks", "start_step": 1478, "end_step": 1499, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: reach: Right hand moves downward toward the green hollow block on the black table surface."}, {"label": "subtasks", "start_step": 1500, "end_step": 1529, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: grasp: Right hand grasps the green hollow block on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1530, "end_step": 1544, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: hold: Right hand holds the green hollow block on the table without moving."}, {"label": "subtasks", "start_step": 1545, "end_step": 1567, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: grasp: Right hand grasps the green hexagonal block on the black worktable, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 1551, "end_step": 1970, "id": "4514ba70-d6f0-4709-8543-9299c42c0381"}, {"label": "subtasks", "start_step": 1568, "end_step": 1597, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the worktable and transports it to the position above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1598, "end_step": 1964, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: mate: Right hand mates the green hexagonal block with the purple peg on the wooden base, adjusting the block's position to fit onto the peg."}, {"label": "subtasks", "start_step": 1965, "end_step": 1987, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: release: Right hand releases the white cylindrical block on the wooden base with fingers opening."}, {"label": "goal", "start_step": 1971, "end_step": 2024, "id": "6197beac-b637-494f-ae2b-962c5b1f79c4"}, {"label": "subtasks", "start_step": 1988, "end_step": 2017, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: reach: Right hand moves downward to reach the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 2018, "end_step": 2047, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing and adjusting."}, {"label": "goal", "start_step": 2025, "end_step": 2172, "id": "0442a216-b6e1-492d-95bc-21da975c4ea7"}, {"label": "subtasks", "start_step": 2048, "end_step": 2077, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it upward toward the target peg on the wooden base."}, {"label": "subtasks", "start_step": 2078, "end_step": 2159, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: mate: Right hand aligns and fits the white hexagonal block onto the target vertical peg on the wooden base."}, {"label": "subtasks", "start_step": 2160, "end_step": 2181, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: mate_release: Right hand fits the white hollow hexagonal cylinder onto the purple vertical rod on the wooden base and releases the cylinder."}, {"label": "goal", "start_step": 2173, "end_step": 2242, "id": "dd81c834-a665-4dd8-9c71-98ffeb120d90"}, {"label": "subtasks", "start_step": 2182, "end_step": 2211, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: reach: Right hand moves downward toward the white hollow hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 2212, "end_step": 2257, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: grasp: Right hand grasps the white hollow hexagonal block on the black table surface with fingers closing and adjusting around it."}, {"label": "goal", "start_step": 2243, "end_step": 2536, "id": "2ad3a455-7bac-4a57-9644-8a79726f2e28"}, {"label": "subtasks", "start_step": 2258, "end_step": 2287, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it toward the top of the rightmost white column on the wooden base."}, {"label": "subtasks", "start_step": 2288, "end_step": 2339, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: mate: Right hand mates the white hexagonal block with the top of the rightmost white column by aligning and pressing it down onto the column top."}, {"label": "subtasks", "start_step": 2340, "end_step": 2354, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: release: Right hand releases the white hexagonal block, with fingers opening to separate from the block on top of the rightmost white column."}, {"label": "subtasks", "start_step": 2355, "end_step": 2377, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: grasp: Right hand grasps the white hexagonal block on top of the rightmost white column again, with fingers closing around the block."}, {"label": "subtasks", "start_step": 2378, "end_step": 2407, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: lift: Right hand lifts the white hexagonal block upward to separate it from the top of the rightmost white column."}, {"label": "subtasks", "start_step": 2408, "end_step": 2481, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: transport: Right hand transports the white hexagonal block downward and leftward to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2482, "end_step": 2534, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod by aligning and lowering it onto the purple rod."}, {"label": "subtasks", "start_step": 2535, "end_step": 2557, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: release: Right hand releases the white cylindrical block on the top-right peg of the wooden base, with fingers opening gradually from a closed grasp position."}, {"label": "goal", "start_step": 2537, "end_step": 2622, "id": "7d646bf3-1422-4fb6-9281-26e39547aacc"}, {"label": "subtasks", "start_step": 2558, "end_step": 2564, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: reach: Right hand moves downward and rightward in the air toward the white hexagonal block on the table at the lower right area."}, {"label": "subtasks", "start_step": 2565, "end_step": 2579, "id": "reasoning-language-00050", "text": "Left hand: other:finger_extend: Left hand extends its fingers slightly while keeping its overall position unchanged at the left side of the wooden base. | Right hand: reach: Right hand moves downward and rightward in the air toward the white hexagonal block on the table at the lower right area."}, {"label": "subtasks", "start_step": 2580, "end_step": 2594, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the wooden base, with fingers extended upward. | Right hand: reach: Right hand moves downward and rightward in the air toward the white hexagonal block on the table at the lower right area."}, {"label": "subtasks", "start_step": 2595, "end_step": 2609, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the wooden base, with fingers extended upward. | Right hand: grasp: Right hand grasps the white hexagonal block on the lower right table, with fingers closing around the block to form a stable grip."}, {"label": "subtasks", "start_step": 2610, "end_step": 2639, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the wooden base, with fingers extended upward. | Right hand: hold: Right hand holds the white hexagonal block on the right side of the table without moving."}, {"label": "goal", "start_step": 2623, "end_step": 2756, "id": "c0292a08-d2b2-4a77-9ced-354aa804d86f"}, {"label": "subtasks", "start_step": 2640, "end_step": 2661, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the wooden base, with fingers extended upward. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it toward the purple peg on the wooden tray."}, {"label": "subtasks", "start_step": 2662, "end_step": 2729, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the wooden base, with fingers extended upward. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg on the wooden tray and fits it onto the peg."}, {"label": "subtasks", "start_step": 2730, "end_step": 2744, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the wooden base, with fingers extended upward. | Right hand: hold: Right hand holds the white hexagonal block on the purple peg without moving."}, {"label": "subtasks", "start_step": 2745, "end_step": 2767, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the wooden base, with fingers extended upward. | Right hand: release: Right hand releases the white bottle with purple cap at the rightmost bottom position of the wooden rack, fingers open to separate from the bottle."}, {"label": "goal", "start_step": 2757, "end_step": 3382, "id": "02cc741b-160e-4a27-8c95-bf9c6d6e172a"}, {"label": "subtasks", "start_step": 2768, "end_step": 2797, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the wooden base, with fingers extended upward. | Right hand: reach: Right hand moves downward toward the green cubic block on the dark table surface, without making contact with the block."}, {"label": "subtasks", "start_step": 2798, "end_step": 2834, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the wooden base, with fingers extended upward. | Right hand: grasp_reorient: Right hand grasps the green cubic block and rotates it approximately a quarter turn to adjust its posture on the table."}, {"label": "subtasks", "start_step": 2835, "end_step": 2857, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the wooden base, with fingers extended upward. | Right hand: release: Right hand releases the green cubic block, fingers open to separate from the block."}, {"label": "subtasks", "start_step": 2858, "end_step": 2879, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the wooden base, with fingers extended upward. | Right hand: idle: Right hand remains empty above the green cubic block without moving."}, {"label": "subtasks", "start_step": 2880, "end_step": 2901, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the wooden base, with fingers extended upward. | Right hand: reach: Right hand reaches downward toward the green cubic block on the table."}, {"label": "subtasks", "start_step": 2902, "end_step": 2961, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the wooden base, with fingers extended upward. | Right hand: grasp_push: Right hand grasps the green cubic block and pushes it along the table surface toward the lower right direction."}, {"label": "subtasks", "start_step": 2962, "end_step": 2991, "id": "reasoning-language-00064", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the wooden base, with fingers extended upward. | Right hand: hold: Right hand holds the green cubic block on the table without moving."}, {"label": "subtasks", "start_step": 2992, "end_step": 3014, "id": "reasoning-language-00065", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the wooden base, with fingers extended upward. | Right hand: release: Right hand releases the green cubic block, fingers open to separate from the block."}, {"label": "subtasks", "start_step": 3015, "end_step": 3044, "id": "reasoning-language-00066", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the wooden base, with fingers extended upward. | Right hand: idle: Right hand remains empty beside the green cubic block without moving."}, {"label": "subtasks", "start_step": 3045, "end_step": 3074, "id": "reasoning-language-00067", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the wooden base, with fingers extended upward. | Right hand: reach: Right hand reaches toward the green cubic block on the table."}, {"label": "subtasks", "start_step": 3075, "end_step": 3164, "id": "reasoning-language-00068", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the wooden base, with fingers extended upward. | Right hand: grasp_reorient: Right hand grasps the green cubic block and rotates it about half a turn to adjust its posture on the table."}, {"label": "subtasks", "start_step": 3165, "end_step": 3209, "id": "reasoning-language-00069", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the wooden base, with fingers extended upward. | Right hand: release: Right hand releases the green cubic block and adjusts its position slightly on the table."}, {"label": "subtasks", "start_step": 3210, "end_step": 3239, "id": "reasoning-language-00070", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the wooden base, with fingers extended upward. | Right hand: idle: Right hand remains empty beside the green cubic block without moving."}, {"label": "subtasks", "start_step": 3240, "end_step": 3261, "id": "reasoning-language-00071", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the wooden base, with fingers extended upward. | Right hand: reach: Right hand reaches toward the green cubic block on the table."}, {"label": "subtasks", "start_step": 3262, "end_step": 3321, "id": "reasoning-language-00072", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the wooden base, with fingers extended upward. | Right hand: grasp_reorient: Right hand grasps the green cubic block and rotates it slightly to adjust its posture on the table."}, {"label": "subtasks", "start_step": 3322, "end_step": 3351, "id": "reasoning-language-00073", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the wooden base, with fingers extended upward. | Right hand: release: Right hand releases the green cubic block, fingers open to separate from the block."}, {"label": "subtasks", "start_step": 3352, "end_step": 3367, "id": "reasoning-language-00074", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the wooden base, with fingers extended upward. | Right hand: reach: Right hand reaches toward the green cubic block on the table."}, {"label": "subtasks", "start_step": 3368, "end_step": 3397, "id": "reasoning-language-00075", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the wooden base, with fingers extended upward. | Right hand: grasp: Right hand grasps the green cubic block on the table, fingers close around the block to establish stable grip."}, {"label": "goal", "start_step": 3383, "end_step": 4478, "id": "946b918d-d413-44ba-91eb-a376ed878f76"}, {"label": "subtasks", "start_step": 3398, "end_step": 3411, "id": "reasoning-language-00076", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the wooden base, with fingers extended upward. | Right hand: lift: Right hand lifts the green square ring upward until it is fully separated from the table surface."}, {"label": "subtasks", "start_step": 3412, "end_step": 3457, "id": "reasoning-language-00077", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the wooden base, with fingers extended upward. | Right hand: transport: Right hand transports the green square ring leftward and upward to the area above the 3x3 bottle set."}, {"label": "subtasks", "start_step": 3458, "end_step": 3554, "id": "reasoning-language-00078", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the wooden base, with fingers extended upward. | Right hand: mate: Right hand aligns the green square ring with a back-row bottle and adjusts its position to attempt fitting the ring onto the bottle."}, {"label": "subtasks", "start_step": 3555, "end_step": 3591, "id": "reasoning-language-00079", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the wooden base, with fingers extended upward. | Right hand: transport: Right hand transports the green square ring slightly upward and leftward to the area above a middle-row bottle."}, {"label": "subtasks", "start_step": 3592, "end_step": 3794, "id": "reasoning-language-00080", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the wooden base, with fingers extended upward. | Right hand: mate: Right hand aligns the green square ring with the middle-row bottle and makes fine position adjustments to attempt fitting."}, {"label": "subtasks", "start_step": 3795, "end_step": 3847, "id": "reasoning-language-00081", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the wooden base, with fingers extended upward. | Right hand: transport: Right hand transports the green square ring forward and leftward to the area above the front-left bottle."}, {"label": "subtasks", "start_step": 3848, "end_step": 3959, "id": "reasoning-language-00082", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the wooden base, with fingers extended upward. | Right hand: mate: Right hand aligns the green square ring with the front-left bottle and adjusts position to attempt fitting."}, {"label": "subtasks", "start_step": 3960, "end_step": 3997, "id": "reasoning-language-00083", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the wooden base, with fingers extended upward. | Right hand: transport: Right hand transports the green square ring rightward and backward to the area above the middle-column middle bottle."}, {"label": "subtasks", "start_step": 3998, "end_step": 4177, "id": "reasoning-language-00084", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the wooden base, with fingers extended upward. | Right hand: mate: Right hand aligns the green square ring with the middle-column middle bottle and adjusts posture to attempt fitting."}, {"label": "subtasks", "start_step": 4178, "end_step": 4244, "id": "reasoning-language-00085", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the wooden base, with fingers extended upward. | Right hand: transport: Right hand transports the green square ring backward to the area above the back-middle bottle."}, {"label": "subtasks", "start_step": 4245, "end_step": 4304, "id": "reasoning-language-00086", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the wooden base, with fingers extended upward. | Right hand: mate: Right hand aligns the green square ring with the back-middle bottle and adjusts position to attempt fitting."}, {"label": "subtasks", "start_step": 4305, "end_step": 4357, "id": "reasoning-language-00087", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the wooden base, with fingers extended upward. | Right hand: transport: Right hand transports the green square ring forward and rightward to the area above the front-right bottle."}, {"label": "subtasks", "start_step": 4358, "end_step": 4469, "id": "reasoning-language-00088", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the wooden base, with fingers extended upward. | Right hand: mate: Right hand aligns the green square ring with the front-right bottle and presses it down until the ring is fully fitted onto the bottle."}, {"label": "subtasks", "start_step": 4470, "end_step": 4484, "id": "reasoning-language-00089", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the wooden base, with fingers extended upward. | Right hand: release: Right hand releases the green square ring by opening its fingers, separating from the ring."}, {"label": "home", "start_step": 4536, "end_step": 4567, "id": "-1_a0txLbi5TUH-swxrUs"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_hand_pose: Left hand slightly rotates its wrist and opens fingers while staying at the left side of the table, with no contact with any object. | Right hand: reach: Right hand moves leftward and downward from the right side of the table toward the green hexagonal nut on the left part of the table, with fingers open."}, {"label": "subtasks", "start_step": 30, "end_step": 74, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: reach: Right hand moves leftward and downward from the right side of the table toward the green hexagonal nut on the left part of the table, with fingers open."}, {"label": "subtasks", "start_step": 75, "end_step": 97, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: grasp: Right hand closes its fingers to grasp the green hexagonal nut on the table surface."}, {"label": "subtasks", "start_step": 98, "end_step": 119, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: hold: Right hand holds the green hexagonal nut on the table without any movement."}, {"label": "subtasks", "start_step": 120, "end_step": 141, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table, adjusting its fingers to form a stable grip."}, {"label": "subtasks", "start_step": 142, "end_step": 164, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it upward and rightward to the position above the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 165, "end_step": 179, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: mate: Right hand aligns the green hexagonal block with the leftmost purple peg and fits the block onto the peg."}, {"label": "subtasks", "start_step": 180, "end_step": 209, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: press: Right hand presses the green hexagonal block downward along the leftmost purple peg to seat it firmly."}, {"label": "subtasks", "start_step": 210, "end_step": 247, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: hold: Right hand holds the green hexagonal block on the leftmost purple peg without moving."}, {"label": "subtasks", "start_step": 248, "end_step": 254, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: release_retreat: Right hand releases the green hexagonal block while moving slightly upward away from the peg."}, {"label": "subtasks", "start_step": 255, "end_step": 284, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: reach: Right hand moves downward from the wooden peg board area toward the white hexagonal piece on the table, without contacting the piece."}, {"label": "subtasks", "start_step": 285, "end_step": 321, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: grasp: Right hand closes its fingers around the white hexagonal piece on the table and adjusts its grip to form a stable grasp."}, {"label": "subtasks", "start_step": 322, "end_step": 351, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal piece off the table and moves it upward and toward the wooden peg board to position above the target peg."}, {"label": "subtasks", "start_step": 352, "end_step": 487, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: mate: Right hand aligns the white hexagonal piece with the target peg on the wooden board and lowers it onto the peg, making fine adjustments to the assembly position."}, {"label": "subtasks", "start_step": 488, "end_step": 509, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 510, "end_step": 554, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface with fingers adjusting to stabilize the grip."}, {"label": "subtasks", "start_step": 555, "end_step": 569, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal object from the table and transports it to the upper left of the wooden peg rack."}, {"label": "subtasks", "start_step": 570, "end_step": 614, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: mate: Right hand aligns the white hexagonal object with the leftmost purple peg of the wooden rack and fits it onto the peg."}, {"label": "subtasks", "start_step": 615, "end_step": 659, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: press: Right hand presses the white hexagonal object downward along the purple peg to adjust its position."}, {"label": "subtasks", "start_step": 660, "end_step": 839, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: hold: Right hand holds the white hexagonal object on the leftmost purple peg of the wooden rack without moving."}, {"label": "subtasks", "start_step": 840, "end_step": 861, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: release: Right hand releases the white cylindrical block on the rightmost purple peg, with fingers opening from closed position."}, {"label": "subtasks", "start_step": 862, "end_step": 891, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the table near the peg base."}, {"label": "subtasks", "start_step": 892, "end_step": 937, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing around the block to adjust the grip."}, {"label": "subtasks", "start_step": 938, "end_step": 959, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it toward the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 960, "end_step": 1454, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg and adjusts its vertical position along the peg repeatedly."}, {"label": "subtasks", "start_step": 1455, "end_step": 1477, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: release: Right hand releases the white hollow cylinder on the purple peg of the wooden base, with fingers opening from a closed grip."}, {"label": "subtasks", "start_step": 1478, "end_step": 1499, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: reach: Right hand moves downward toward the green hollow block on the black table surface."}, {"label": "subtasks", "start_step": 1500, "end_step": 1529, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: grasp: Right hand grasps the green hollow block on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1530, "end_step": 1544, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: hold: Right hand holds the green hollow block on the table without moving."}, {"label": "subtasks", "start_step": 1545, "end_step": 1567, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: grasp: Right hand grasps the green hexagonal block on the black worktable, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1568, "end_step": 1597, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the worktable and transports it to the position above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1598, "end_step": 1964, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: mate: Right hand mates the green hexagonal block with the purple peg on the wooden base, adjusting the block's position to fit onto the peg."}, {"label": "subtasks", "start_step": 1965, "end_step": 1987, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: release: Right hand releases the white cylindrical block on the wooden base with fingers opening."}, {"label": "subtasks", "start_step": 1988, "end_step": 2017, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: reach: Right hand moves downward to reach the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 2018, "end_step": 2047, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing and adjusting."}, {"label": "subtasks", "start_step": 2048, "end_step": 2077, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it upward toward the target peg on the wooden base."}, {"label": "subtasks", "start_step": 2078, "end_step": 2159, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: mate: Right hand aligns and fits the white hexagonal block onto the target vertical peg on the wooden base."}, {"label": "subtasks", "start_step": 2160, "end_step": 2181, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: mate_release: Right hand fits the white hollow hexagonal cylinder onto the purple vertical rod on the wooden base and releases the cylinder."}, {"label": "subtasks", "start_step": 2182, "end_step": 2211, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: reach: Right hand moves downward toward the white hollow hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 2212, "end_step": 2257, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: grasp: Right hand grasps the white hollow hexagonal block on the black table surface with fingers closing and adjusting around it."}, {"label": "subtasks", "start_step": 2258, "end_step": 2287, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it toward the top of the rightmost white column on the wooden base."}, {"label": "subtasks", "start_step": 2288, "end_step": 2339, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: mate: Right hand mates the white hexagonal block with the top of the rightmost white column by aligning and pressing it down onto the column top."}, {"label": "subtasks", "start_step": 2340, "end_step": 2354, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: release: Right hand releases the white hexagonal block, with fingers opening to separate from the block on top of the rightmost white column."}, {"label": "subtasks", "start_step": 2355, "end_step": 2377, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: grasp: Right hand grasps the white hexagonal block on top of the rightmost white column again, with fingers closing around the block."}, {"label": "subtasks", "start_step": 2378, "end_step": 2407, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: lift: Right hand lifts the white hexagonal block upward to separate it from the top of the rightmost white column."}, {"label": "subtasks", "start_step": 2408, "end_step": 2481, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: transport: Right hand transports the white hexagonal block downward and leftward to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2482, "end_step": 2534, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod by aligning and lowering it onto the purple rod."}, {"label": "subtasks", "start_step": 2535, "end_step": 2557, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: release: Right hand releases the white cylindrical block on the top-right peg of the wooden base, with fingers opening gradually from a closed grasp position."}, {"label": "subtasks", "start_step": 2558, "end_step": 2564, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: reach: Right hand moves downward and rightward in the air toward the white hexagonal block on the table at the lower right area."}, {"label": "subtasks", "start_step": 2565, "end_step": 2579, "id": "reasoning-language-00050", "text": "Left hand: other:finger_extend: Left hand extends its fingers slightly while keeping its overall position unchanged at the left side of the wooden base. | Right hand: reach: Right hand moves downward and rightward in the air toward the white hexagonal block on the table at the lower right area."}, {"label": "subtasks", "start_step": 2580, "end_step": 2594, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the wooden base, with fingers extended upward. | Right hand: reach: Right hand moves downward and rightward in the air toward the white hexagonal block on the table at the lower right area."}, {"label": "subtasks", "start_step": 2595, "end_step": 2609, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the wooden base, with fingers extended upward. | Right hand: grasp: Right hand grasps the white hexagonal block on the lower right table, with fingers closing around the block to form a stable grip."}, {"label": "subtasks", "start_step": 2610, "end_step": 2639, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the wooden base, with fingers extended upward. | Right hand: hold: Right hand holds the white hexagonal block on the right side of the table without moving."}, {"label": "subtasks", "start_step": 2640, "end_step": 2661, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the wooden base, with fingers extended upward. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it toward the purple peg on the wooden tray."}, {"label": "subtasks", "start_step": 2662, "end_step": 2729, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the wooden base, with fingers extended upward. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg on the wooden tray and fits it onto the peg."}, {"label": "subtasks", "start_step": 2730, "end_step": 2744, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the wooden base, with fingers extended upward. | Right hand: hold: Right hand holds the white hexagonal block on the purple peg without moving."}, {"label": "subtasks", "start_step": 2745, "end_step": 2767, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the wooden base, with fingers extended upward. | Right hand: release: Right hand releases the white bottle with purple cap at the rightmost bottom position of the wooden rack, fingers open to separate from the bottle."}, {"label": "subtasks", "start_step": 2768, "end_step": 2797, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the wooden base, with fingers extended upward. | Right hand: reach: Right hand moves downward toward the green cubic block on the dark table surface, without making contact with the block."}, {"label": "subtasks", "start_step": 2798, "end_step": 2834, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the wooden base, with fingers extended upward. | Right hand: grasp_reorient: Right hand grasps the green cubic block and rotates it approximately a quarter turn to adjust its posture on the table."}, {"label": "subtasks", "start_step": 2835, "end_step": 2857, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the wooden base, with fingers extended upward. | Right hand: release: Right hand releases the green cubic block, fingers open to separate from the block."}, {"label": "subtasks", "start_step": 2858, "end_step": 2879, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the wooden base, with fingers extended upward. | Right hand: idle: Right hand remains empty above the green cubic block without moving."}, {"label": "subtasks", "start_step": 2880, "end_step": 2901, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the wooden base, with fingers extended upward. | Right hand: reach: Right hand reaches downward toward the green cubic block on the table."}, {"label": "subtasks", "start_step": 2902, "end_step": 2961, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the wooden base, with fingers extended upward. | Right hand: grasp_push: Right hand grasps the green cubic block and pushes it along the table surface toward the lower right direction."}, {"label": "subtasks", "start_step": 2962, "end_step": 2991, "id": "reasoning-language-00064", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the wooden base, with fingers extended upward. | Right hand: hold: Right hand holds the green cubic block on the table without moving."}, {"label": "subtasks", "start_step": 2992, "end_step": 3014, "id": "reasoning-language-00065", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the wooden base, with fingers extended upward. | Right hand: release: Right hand releases the green cubic block, fingers open to separate from the block."}, {"label": "subtasks", "start_step": 3015, "end_step": 3044, "id": "reasoning-language-00066", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the wooden base, with fingers extended upward. | Right hand: idle: Right hand remains empty beside the green cubic block without moving."}, {"label": "subtasks", "start_step": 3045, "end_step": 3074, "id": "reasoning-language-00067", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the wooden base, with fingers extended upward. | Right hand: reach: Right hand reaches toward the green cubic block on the table."}, {"label": "subtasks", "start_step": 3075, "end_step": 3164, "id": "reasoning-language-00068", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the wooden base, with fingers extended upward. | Right hand: grasp_reorient: Right hand grasps the green cubic block and rotates it about half a turn to adjust its posture on the table."}, {"label": "subtasks", "start_step": 3165, "end_step": 3209, "id": "reasoning-language-00069", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the wooden base, with fingers extended upward. | Right hand: release: Right hand releases the green cubic block and adjusts its position slightly on the table."}, {"label": "subtasks", "start_step": 3210, "end_step": 3239, "id": "reasoning-language-00070", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the wooden base, with fingers extended upward. | Right hand: idle: Right hand remains empty beside the green cubic block without moving."}, {"label": "subtasks", "start_step": 3240, "end_step": 3261, "id": "reasoning-language-00071", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the wooden base, with fingers extended upward. | Right hand: reach: Right hand reaches toward the green cubic block on the table."}, {"label": "subtasks", "start_step": 3262, "end_step": 3321, "id": "reasoning-language-00072", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the wooden base, with fingers extended upward. | Right hand: grasp_reorient: Right hand grasps the green cubic block and rotates it slightly to adjust its posture on the table."}, {"label": "subtasks", "start_step": 3322, "end_step": 3351, "id": "reasoning-language-00073", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the wooden base, with fingers extended upward. | Right hand: release: Right hand releases the green cubic block, fingers open to separate from the block."}, {"label": "subtasks", "start_step": 3352, "end_step": 3367, "id": "reasoning-language-00074", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the wooden base, with fingers extended upward. | Right hand: reach: Right hand reaches toward the green cubic block on the table."}, {"label": "subtasks", "start_step": 3368, "end_step": 3397, "id": "reasoning-language-00075", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the wooden base, with fingers extended upward. | Right hand: grasp: Right hand grasps the green cubic block on the table, fingers close around the block to establish stable grip."}, {"label": "subtasks", "start_step": 3398, "end_step": 3411, "id": "reasoning-language-00076", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the wooden base, with fingers extended upward. | Right hand: lift: Right hand lifts the green square ring upward until it is fully separated from the table surface."}, {"label": "subtasks", "start_step": 3412, "end_step": 3457, "id": "reasoning-language-00077", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the wooden base, with fingers extended upward. | Right hand: transport: Right hand transports the green square ring leftward and upward to the area above the 3x3 bottle set."}, {"label": "subtasks", "start_step": 3458, "end_step": 3554, "id": "reasoning-language-00078", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the wooden base, with fingers extended upward. | Right hand: mate: Right hand aligns the green square ring with a back-row bottle and adjusts its position to attempt fitting the ring onto the bottle."}, {"label": "subtasks", "start_step": 3555, "end_step": 3591, "id": "reasoning-language-00079", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the wooden base, with fingers extended upward. | Right hand: transport: Right hand transports the green square ring slightly upward and leftward to the area above a middle-row bottle."}, {"label": "subtasks", "start_step": 3592, "end_step": 3794, "id": "reasoning-language-00080", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the wooden base, with fingers extended upward. | Right hand: mate: Right hand aligns the green square ring with the middle-row bottle and makes fine position adjustments to attempt fitting."}, {"label": "subtasks", "start_step": 3795, "end_step": 3847, "id": "reasoning-language-00081", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the wooden base, with fingers extended upward. | Right hand: transport: Right hand transports the green square ring forward and leftward to the area above the front-left bottle."}, {"label": "subtasks", "start_step": 3848, "end_step": 3959, "id": "reasoning-language-00082", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the wooden base, with fingers extended upward. | Right hand: mate: Right hand aligns the green square ring with the front-left bottle and adjusts position to attempt fitting."}, {"label": "subtasks", "start_step": 3960, "end_step": 3997, "id": "reasoning-language-00083", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the wooden base, with fingers extended upward. | Right hand: transport: Right hand transports the green square ring rightward and backward to the area above the middle-column middle bottle."}, {"label": "subtasks", "start_step": 3998, "end_step": 4177, "id": "reasoning-language-00084", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the wooden base, with fingers extended upward. | Right hand: mate: Right hand aligns the green square ring with the middle-column middle bottle and adjusts posture to attempt fitting."}, {"label": "subtasks", "start_step": 4178, "end_step": 4244, "id": "reasoning-language-00085", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the wooden base, with fingers extended upward. | Right hand: transport: Right hand transports the green square ring backward to the area above the back-middle bottle."}, {"label": "subtasks", "start_step": 4245, "end_step": 4304, "id": "reasoning-language-00086", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the wooden base, with fingers extended upward. | Right hand: mate: Right hand aligns the green square ring with the back-middle bottle and adjusts position to attempt fitting."}, {"label": "subtasks", "start_step": 4305, "end_step": 4357, "id": "reasoning-language-00087", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the wooden base, with fingers extended upward. | Right hand: transport: Right hand transports the green square ring forward and rightward to the area above the front-right bottle."}, {"label": "subtasks", "start_step": 4358, "end_step": 4469, "id": "reasoning-language-00088", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the wooden base, with fingers extended upward. | Right hand: mate: Right hand aligns the green square ring with the front-right bottle and presses it down until the ring is fully fitted onto the bottle."}, {"label": "subtasks", "start_step": 4470, "end_step": 4484, "id": "reasoning-language-00089", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the wooden base, with fingers extended upward. | Right hand: release: Right hand releases the green square ring by opening its fingers, separating from the ring."}], "episode_index": 24}
+{"source_uid": "0c2a793778ee850f", "num_frames": 3042, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 51, "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 towards the green hexagonal block placed in front of the wooden peg base on the table."}, {"label": "goal", "start_step": 0, "end_step": 136, "id": "9e197e3c-f278-4d91-9b06-c49b5326440a"}, {"label": "valid", "start_step": 0, "end_step": 3010, "id": "HEjca68JQZMJclu5inM8O"}, {"label": "subtasks", "start_step": 52, "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 adjusts its fingers to establish a stable grasp on the green hexagonal block on the table."}, {"label": "subtasks", "start_step": 135, "end_step": 157, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green block from the black table surface."}, {"label": "goal", "start_step": 137, "end_step": 300, "id": "ac223723-016d-43f0-a5f6-5bad429f7fcf"}, {"label": "subtasks", "start_step": 158, "end_step": 187, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green block towards the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 188, "end_step": 209, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the hole of the green block with the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 210, "end_step": 299, "id": "reasoning-language-00006", "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 block down onto the leftmost purple peg to fit it in place."}, {"label": "subtasks", "start_step": 300, "end_step": 337, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the wooden base toward the white hexagonal block on the table."}, {"label": "goal", "start_step": 301, "end_step": 366, "id": "4685d3a0-f4be-4e01-aca4-efefdabeec9d"}, {"label": "subtasks", "start_step": 338, "end_step": 374, "id": "reasoning-language-00008", "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 white hexagonal block on the table."}, {"label": "goal", "start_step": 367, "end_step": 490, "id": "658d1044-87c6-4513-80a2-9e3600ad075b"}, {"label": "subtasks", "start_step": 375, "end_step": 389, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block off the table surface."}, {"label": "subtasks", "start_step": 390, "end_step": 404, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand carries the white hexagonal block to the position above the purple post on the wooden base."}, {"label": "subtasks", "start_step": 405, "end_step": 479, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple post and fits it onto the post."}, {"label": "subtasks", "start_step": 480, "end_step": 501, "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 white hexagonal block onto the purple pillar of the wooden base, until the block is stably supported."}, {"label": "goal", "start_step": 491, "end_step": 568, "id": "a77bcba0-692b-47ac-bdd5-d9017b5d6954"}, {"label": "subtasks", "start_step": 502, "end_step": 524, "id": "reasoning-language-00013", "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 white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 525, "end_step": 584, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to form a stable grip on the white hexagonal block on the black tabletop."}, {"label": "goal", "start_step": 569, "end_step": 722, "id": "ddd73b85-621c-4035-9805-c3e7e037afce"}, {"label": "subtasks", "start_step": 585, "end_step": 614, "id": "reasoning-language-00015", "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 white hexagonal block off the table and transports it to the position above the target purple post on the wooden base."}, {"label": "subtasks", "start_step": 615, "end_step": 644, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the target purple post on the wooden base."}, {"label": "subtasks", "start_step": 645, "end_step": 719, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block down onto the purple post until the block is stably supported by the post."}, {"label": "subtasks", "start_step": 720, "end_step": 741, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block, with fingers opening to separate from the block."}, {"label": "goal", "start_step": 723, "end_step": 776, "id": "43517d26-3897-4c93-b398-97b9c8f2dbc7"}, {"label": "subtasks", "start_step": 742, "end_step": 787, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white cylindrical block on the table."}, {"label": "goal", "start_step": 777, "end_step": 1116, "id": "56a1a96e-94c0-45c7-a01f-2c5081648e90"}, {"label": "subtasks", "start_step": 788, "end_step": 801, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white cylindrical block on the table."}, {"label": "subtasks", "start_step": 802, "end_step": 817, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white cylindrical block off the table surface."}, {"label": "subtasks", "start_step": 818, "end_step": 1109, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand moves the white cylindrical block to the wooden base, aligns it with a purple peg and inserts it onto the peg."}, {"label": "subtasks", "start_step": 1110, "end_step": 1124, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical block on the purple peg."}, {"label": "goal", "start_step": 1117, "end_step": 1278, "id": "9c1d6133-5f78-4b78-b19d-292a4b97485a"}, {"label": "subtasks", "start_step": 1125, "end_step": 1154, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the wooden peg base toward the green hexagonal block on the table."}, {"label": "subtasks", "start_step": 1155, "end_step": 1297, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand touches the green hexagonal block on the table and adjusts fingers to form a stable grasp."}, {"label": "goal", "start_step": 1279, "end_step": 1618, "id": "27a3be2f-43ea-4004-ae09-14a6eda2d86d"}, {"label": "subtasks", "start_step": 1298, "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: lift_transport: Right hand lifts the green block and transports it towards the wooden peg base."}, {"label": "subtasks", "start_step": 1335, "end_step": 1409, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green block onto a peg on the wooden base."}, {"label": "subtasks", "start_step": 1410, "end_step": 1447, "id": "reasoning-language-00028", "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 green block from the peg and transports it to another adjacent peg."}, {"label": "subtasks", "start_step": 1448, "end_step": 1604, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green block onto the target adjacent peg on the wooden base."}, {"label": "subtasks", "start_step": 1605, "end_step": 1634, "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 white cylindrical block onto the peg on the wooden base."}, {"label": "goal", "start_step": 1619, "end_step": 1692, "id": "3a33ad78-d1a2-4f6f-a46a-f08c047c7a41"}, {"label": "subtasks", "start_step": 1635, "end_step": 1657, "id": "reasoning-language-00031", "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 white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1658, "end_step": 1717, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers adjusting around the block."}, {"label": "goal", "start_step": 1693, "end_step": 1998, "id": "2e4ecfda-6391-416f-b27c-805c8e32f498"}, {"label": "subtasks", "start_step": 1718, "end_step": 1754, "id": "reasoning-language-00033", "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 white hexagonal block off the tabletop and moves it towards the wooden base with pegs."}, {"label": "subtasks", "start_step": 1755, "end_step": 1867, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the target peg on the wooden base and inserts it onto the peg."}, {"label": "subtasks", "start_step": 1868, "end_step": 1941, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses down the white hexagonal block along the peg to secure it in place."}, {"label": "subtasks", "start_step": 1942, "end_step": 1971, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases its grasp on the white hexagonal block on the peg."}, {"label": "subtasks", "start_step": 1972, "end_step": 1994, "id": "reasoning-language-00037", "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 wooden base after releasing the block."}, {"label": "subtasks", "start_step": 1995, "end_step": 2009, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical block on the wooden rack."}, {"label": "goal", "start_step": 1999, "end_step": 2130, "id": "5737df6f-5840-4eb6-8562-c459c1392cc4"}, {"label": "subtasks", "start_step": 2010, "end_step": 2031, "id": "reasoning-language-00039", "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 white hexagonal block on the tabletop."}, {"label": "subtasks", "start_step": 2032, "end_step": 2129, "id": "reasoning-language-00040", "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 white hexagonal block on the tabletop."}, {"label": "subtasks", "start_step": 2130, "end_step": 2151, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal ring from the black table surface."}, {"label": "goal", "start_step": 2131, "end_step": 2260, "id": "85d55454-6717-4279-9232-e59137837143"}, {"label": "subtasks", "start_step": 2152, "end_step": 2181, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal ring towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2182, "end_step": 2219, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal ring onto the purple rod."}, {"label": "subtasks", "start_step": 2220, "end_step": 2249, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal ring fitted on the purple rod."}, {"label": "subtasks", "start_step": 2250, "end_step": 2264, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats from the purple rod operating position."}, {"label": "goal", "start_step": 2261, "end_step": 2326, "id": "2024f8ac-8301-434e-b62a-dbfc32f7a60b"}, {"label": "subtasks", "start_step": 2265, "end_step": 2279, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal cap onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2280, "end_step": 2301, "id": "reasoning-language-00047", "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 white hexagonal cap on the black table surface."}, {"label": "subtasks", "start_step": 2302, "end_step": 2324, "id": "reasoning-language-00048", "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 white hexagonal cap on the black table surface."}, {"label": "subtasks", "start_step": 2325, "end_step": 2347, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the right side of the black table without moving."}, {"label": "goal", "start_step": 2327, "end_step": 2748, "id": "2cc5324a-9ad9-4cd2-8340-50f7f8d8e47a"}, {"label": "subtasks", "start_step": 2348, "end_step": 2369, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block towards the purple rod on the middle wooden base."}, {"label": "subtasks", "start_step": 2370, "end_step": 2744, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod on the wooden base, adjusting its position to complete the fitting."}, {"label": "subtasks", "start_step": 2745, "end_step": 2774, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white bottle placed on the wooden base."}, {"label": "goal", "start_step": 2749, "end_step": 2816, "id": "cf0f36e8-83ca-4315-a3c0-552db56fc524"}, {"label": "subtasks", "start_step": 2775, "end_step": 2811, "id": "reasoning-language-00053", "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 surface."}, {"label": "subtasks", "start_step": 2812, "end_step": 2834, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green block on the table surface."}, {"label": "goal", "start_step": 2817, "end_step": 2960, "id": "f3c828b7-5ec3-4400-95d5-bde846139f79"}, {"label": "subtasks", "start_step": 2835, "end_step": 2864, "id": "reasoning-language-00055", "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 green block and transports it to the top of the target white bottle on the wooden base."}, {"label": "subtasks", "start_step": 2865, "end_step": 2969, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green block onto the top of the target white bottle to complete assembly."}, {"label": "home", "start_step": 3011, "end_step": 3041, "id": "IWY007I0xYwGVBES9tWqt"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 51, "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 towards the green hexagonal block placed in front of the wooden peg base on the table."}, {"label": "subtasks", "start_step": 52, "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 adjusts its fingers to establish a stable grasp on the green hexagonal block on the table."}, {"label": "subtasks", "start_step": 135, "end_step": 157, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green block from the black table surface."}, {"label": "subtasks", "start_step": 158, "end_step": 187, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green block towards the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 188, "end_step": 209, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the hole of the green block with the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 210, "end_step": 299, "id": "reasoning-language-00006", "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 block down onto the leftmost purple peg to fit it in place."}, {"label": "subtasks", "start_step": 300, "end_step": 337, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the wooden base toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 338, "end_step": 374, "id": "reasoning-language-00008", "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 white hexagonal block on the table."}, {"label": "subtasks", "start_step": 375, "end_step": 389, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block off the table surface."}, {"label": "subtasks", "start_step": 390, "end_step": 404, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand carries the white hexagonal block to the position above the purple post on the wooden base."}, {"label": "subtasks", "start_step": 405, "end_step": 479, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple post and fits it onto the post."}, {"label": "subtasks", "start_step": 480, "end_step": 501, "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 white hexagonal block onto the purple pillar of the wooden base, until the block is stably supported."}, {"label": "subtasks", "start_step": 502, "end_step": 524, "id": "reasoning-language-00013", "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 white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 525, "end_step": 584, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to form a stable grip on the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 585, "end_step": 614, "id": "reasoning-language-00015", "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 white hexagonal block off the table and transports it to the position above the target purple post on the wooden base."}, {"label": "subtasks", "start_step": 615, "end_step": 644, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the target purple post on the wooden base."}, {"label": "subtasks", "start_step": 645, "end_step": 719, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block down onto the purple post until the block is stably supported by the post."}, {"label": "subtasks", "start_step": 720, "end_step": 741, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 742, "end_step": 787, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white cylindrical block on the table."}, {"label": "subtasks", "start_step": 788, "end_step": 801, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white cylindrical block on the table."}, {"label": "subtasks", "start_step": 802, "end_step": 817, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white cylindrical block off the table surface."}, {"label": "subtasks", "start_step": 818, "end_step": 1109, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand moves the white cylindrical block to the wooden base, aligns it with a purple peg and inserts it onto the peg."}, {"label": "subtasks", "start_step": 1110, "end_step": 1124, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical block on the purple peg."}, {"label": "subtasks", "start_step": 1125, "end_step": 1154, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the wooden peg base toward the green hexagonal block on the table."}, {"label": "subtasks", "start_step": 1155, "end_step": 1297, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand touches the green hexagonal block on the table and adjusts fingers to form a stable grasp."}, {"label": "subtasks", "start_step": 1298, "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: lift_transport: Right hand lifts the green block and transports it towards the wooden peg base."}, {"label": "subtasks", "start_step": 1335, "end_step": 1409, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green block onto a peg on the wooden base."}, {"label": "subtasks", "start_step": 1410, "end_step": 1447, "id": "reasoning-language-00028", "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 green block from the peg and transports it to another adjacent peg."}, {"label": "subtasks", "start_step": 1448, "end_step": 1604, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green block onto the target adjacent peg on the wooden base."}, {"label": "subtasks", "start_step": 1605, "end_step": 1634, "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 white cylindrical block onto the peg on the wooden base."}, {"label": "subtasks", "start_step": 1635, "end_step": 1657, "id": "reasoning-language-00031", "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 white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1658, "end_step": 1717, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers adjusting around the block."}, {"label": "subtasks", "start_step": 1718, "end_step": 1754, "id": "reasoning-language-00033", "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 white hexagonal block off the tabletop and moves it towards the wooden base with pegs."}, {"label": "subtasks", "start_step": 1755, "end_step": 1867, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the target peg on the wooden base and inserts it onto the peg."}, {"label": "subtasks", "start_step": 1868, "end_step": 1941, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses down the white hexagonal block along the peg to secure it in place."}, {"label": "subtasks", "start_step": 1942, "end_step": 1971, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases its grasp on the white hexagonal block on the peg."}, {"label": "subtasks", "start_step": 1972, "end_step": 1994, "id": "reasoning-language-00037", "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 wooden base after releasing the block."}, {"label": "subtasks", "start_step": 1995, "end_step": 2009, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical block on the wooden rack."}, {"label": "subtasks", "start_step": 2010, "end_step": 2031, "id": "reasoning-language-00039", "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 white hexagonal block on the tabletop."}, {"label": "subtasks", "start_step": 2032, "end_step": 2129, "id": "reasoning-language-00040", "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 white hexagonal block on the tabletop."}, {"label": "subtasks", "start_step": 2130, "end_step": 2151, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal ring from the black table surface."}, {"label": "subtasks", "start_step": 2152, "end_step": 2181, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal ring towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2182, "end_step": 2219, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal ring onto the purple rod."}, {"label": "subtasks", "start_step": 2220, "end_step": 2249, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal ring fitted on the purple rod."}, {"label": "subtasks", "start_step": 2250, "end_step": 2264, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats from the purple rod operating position."}, {"label": "subtasks", "start_step": 2265, "end_step": 2279, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal cap onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2280, "end_step": 2301, "id": "reasoning-language-00047", "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 white hexagonal cap on the black table surface."}, {"label": "subtasks", "start_step": 2302, "end_step": 2324, "id": "reasoning-language-00048", "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 white hexagonal cap on the black table surface."}, {"label": "subtasks", "start_step": 2325, "end_step": 2347, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the right side of the black table without moving."}, {"label": "subtasks", "start_step": 2348, "end_step": 2369, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block towards the purple rod on the middle wooden base."}, {"label": "subtasks", "start_step": 2370, "end_step": 2744, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod on the wooden base, adjusting its position to complete the fitting."}, {"label": "subtasks", "start_step": 2745, "end_step": 2774, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white bottle placed on the wooden base."}, {"label": "subtasks", "start_step": 2775, "end_step": 2811, "id": "reasoning-language-00053", "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 surface."}, {"label": "subtasks", "start_step": 2812, "end_step": 2834, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green block on the table surface."}, {"label": "subtasks", "start_step": 2835, "end_step": 2864, "id": "reasoning-language-00055", "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 green block and transports it to the top of the target white bottle on the wooden base."}, {"label": "subtasks", "start_step": 2865, "end_step": 2969, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green block onto the top of the target white bottle to complete assembly."}], "episode_index": 25}
+{"source_uid": "f25d403be0e7a6a5", "num_frames": 3135, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "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 side of the table without any observable movement. | Right hand: idle: Right hand remains empty at the right home position without any observable movement."}, {"label": "goal", "start_step": 0, "end_step": 172, "id": "5dc790fc-deea-4bc9-bda5-12c9917be0f5"}, {"label": "valid", "start_step": 0, "end_step": 3103, "id": "BGgDrLXB4sblR0k5kJKlf"}, {"label": "subtasks", "start_step": 60, "end_step": 111, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: reach: Right hand moves downward and leftward from the right home position toward the green hexagonal nut near the wooden block stand, remaining empty before contacting the target."}, {"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 any observable movement. | Right hand: grasp: Right hand closes fingers and adjusts wrist pose to establish grip on the green hexagonal nut near the wooden block stand, with the nut still resting on the table surface."}, {"label": "goal", "start_step": 173, "end_step": 352, "id": "5991f924-5693-40a6-8669-52363b3bec83"}, {"label": "subtasks", "start_step": 202, "end_step": 231, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block off the table surface, transporting it upward to a position directly above the target purple peg on the wooden board."}, {"label": "subtasks", "start_step": 232, "end_step": 277, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: mate: Right hand aligns the central hole of the held green hexagonal block with the target purple peg, lowering the block to fit onto the peg."}, {"label": "subtasks", "start_step": 278, "end_step": 344, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple peg of the wooden board with no observable movement or adjustment."}, {"label": "subtasks", "start_step": 345, "end_step": 367, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: place_release: Right hand holds the white hexagonal nut, moves downward to place it onto the top of the green block on the left peg, and opens fingers to release the nut and separate from it."}, {"label": "goal", "start_step": 353, "end_step": 418, "id": "fd855ba5-1ab1-4359-bab4-df5a77f7f25b"}, {"label": "subtasks", "start_step": 368, "end_step": 389, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: reach: Right hand moves downward toward the white hexagonal nut on the table surface while remaining empty, approaching the nut without establishing a grip."}, {"label": "subtasks", "start_step": 390, "end_step": 434, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, making small adjustments to finger position to form a stable grip while the nut remains on the table surface."}, {"label": "goal", "start_step": 419, "end_step": 618, "id": "65da990d-0a69-4de1-818a-921a9d488980"}, {"label": "subtasks", "start_step": 435, "end_step": 464, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the table surface and carries it upward to position directly above the target purple peg on the pegboard."}, {"label": "subtasks", "start_step": 465, "end_step": 614, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: mate: Right hand aligns the grasped white hexagonal nut with the purple peg, moves downward to fit the nut onto the peg, and makes slight alignment adjustments until the nut rests stably on the lower block by the end of the segment."}, {"label": "subtasks", "start_step": 615, "end_step": 637, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: mate_release: Right hand holds the white-capped green bottle, aligns it with the purple peg on the wooden base, presses it into the assembled position, opening fingers to release the bottle."}, {"label": "goal", "start_step": 619, "end_step": 696, "id": "fbc555bb-b716-4a16-8edb-629f52633f99"}, {"label": "subtasks", "start_step": 638, "end_step": 674, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: reach: Right hand moves downward through empty space toward the white hexagonal nut on the black table surface to approach the target."}, {"label": "subtasks", "start_step": 675, "end_step": 711, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, adjusting finger contact points to form a grip on the nut."}, {"label": "goal", "start_step": 697, "end_step": 1044, "id": "67e6f0f6-32ef-4386-8ef7-c5042d88adc0"}, {"label": "subtasks", "start_step": 712, "end_step": 741, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table surface and moves it upward to position directly above the target purple rod on the wooden assembly rack."}, {"label": "subtasks", "start_step": 742, "end_step": 921, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: mate: Right hand aligns the white hexagonal nut with the target purple rod, lowering it to fit over the rod and adjusting horizontal position to align with the green block below."}, {"label": "subtasks", "start_step": 922, "end_step": 981, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: reorient: Right hand rotates the white hexagonal nut slightly to correct its tilted orientation on the purple rod, with minimal horizontal movement."}, {"label": "subtasks", "start_step": 982, "end_step": 1034, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: press: Right hand applies downward pressure to the white hexagonal nut along the purple rod, pressing it down to seat onto the green block beneath."}, {"label": "subtasks", "start_step": 1035, "end_step": 1064, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: place: Right hand holds the white hexagonal block and positions it onto the top of the stacked structure on the wooden base until the block is stably supported."}, {"label": "goal", "start_step": 1045, "end_step": 1188, "id": "bd145c3d-cc95-4c32-a767-9ec60ae7be57"}, {"label": "subtasks", "start_step": 1065, "end_step": 1124, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: reach: Right hand moves downward empty from the stacked blocks toward the white hexagonal block resting on the table in front of the wooden base."}, {"label": "subtasks", "start_step": 1125, "end_step": 1214, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand closes fingers around the target white hexagonal block on the table, making fine adjustments to form a stable grasp."}, {"label": "goal", "start_step": 1189, "end_step": 1422, "id": "1acd9b58-0768-4a81-9d04-844e5d2e50fe"}, {"label": "subtasks", "start_step": 1215, "end_step": 1237, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface and moves it upward to position it directly above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1238, "end_step": 1409, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: mate: Right hand aligns the held white hexagonal block with the purple peg, makes small positional adjustments, and lowers the block to fit it onto the peg."}, {"label": "subtasks", "start_step": 1410, "end_step": 1439, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: release: Right hand releases the white cylindrical block placed on the purple peg, fingers opening to separate from the block."}, {"label": "goal", "start_step": 1423, "end_step": 1508, "id": "3481907b-b186-4c65-b059-b6590ec4f4e9"}, {"label": "subtasks", "start_step": 1440, "end_step": 1461, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: reach: Right hand moves downward empty toward the front green hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1462, "end_step": 1529, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand adjusts finger contact and closes fingers around the green hexagonal block on the table to establish a stable grip."}, {"label": "goal", "start_step": 1509, "end_step": 1716, "id": "316efebd-2c06-4b55-b500-ab55dd993e52"}, {"label": "subtasks", "start_step": 1530, "end_step": 1559, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the green hexagonal block completely off the table surface and moves it upward and leftward to position it directly above the empty purple peg on the wooden pegboard base."}, {"label": "subtasks", "start_step": 1560, "end_step": 1709, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: mate: Right hand makes small positional adjustments to the green hexagonal block to align its central hole with the purple peg, guiding the peg into the block's hole to achieve assembly alignment."}, {"label": "subtasks", "start_step": 1710, "end_step": 1724, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: place: Right hand lowers the aligned green hexagonal block down along the purple peg until the block rests stably on the surface of the wooden pegboard base."}, {"label": "goal", "start_step": 1717, "end_step": 1802, "id": "63f875b3-254e-4dda-a2ab-1eff4ee3e60c"}, {"label": "subtasks", "start_step": 1725, "end_step": 1731, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: press_release: Right hand presses the purple cylindrical peg on the green block of the wooden pegboard and releases contact with the peg."}, {"label": "subtasks", "start_step": 1732, "end_step": 1769, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: reach: Right hand moves empty downward toward the white hexagonal nut resting on the black table surface."}, {"label": "subtasks", "start_step": 1770, "end_step": 1821, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the black table surface, adjusting finger contact positions to establish a grip on the nut."}, {"label": "goal", "start_step": 1803, "end_step": 1952, "id": "96130011-fd77-4f9e-9118-bb5da9118b21"}, {"label": "subtasks", "start_step": 1822, "end_step": 1844, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table and moves it upward to the position above the purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 1845, "end_step": 1949, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple peg on the wooden base and moves it downward to fit the nut onto the peg."}, {"label": "subtasks", "start_step": 1950, "end_step": 2001, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: reach: Right hand moves downward from the stacked block assembly toward the closest white hexagonal block resting on the dark table surface."}, {"label": "goal", "start_step": 1953, "end_step": 2076, "id": "7370c9cc-0c1a-4021-ac2a-37ce1a774c24"}, {"label": "subtasks", "start_step": 2002, "end_step": 2054, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: grasp_lift: Right hand closes fingers around the white hexagonal block on the table to establish a stable grip, lifting the block a short distance upward to raise it completely off the dark table surface."}, {"label": "subtasks", "start_step": 2055, "end_step": 2069, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: hold: Right hand holds the lifted white hexagonal block stationary above the table surface with no observable movement of the hand or block."}, {"label": "subtasks", "start_step": 2070, "end_step": 2091, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand closes fingers to secure a stable grasp on the white hexagonal nut placed next to the wooden block tray."}, {"label": "goal", "start_step": 2077, "end_step": 2232, "id": "3d8c0a66-c205-421b-8bd0-d102d876a60c"}, {"label": "subtasks", "start_step": 2092, "end_step": 2137, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the black table surface and moves it upward to position directly above the purple rod on the wooden tray."}, {"label": "subtasks", "start_step": 2138, "end_step": 2159, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple rod and lowers the nut to fit onto the rod, establishing the mated connection."}, {"label": "subtasks", "start_step": 2160, "end_step": 2219, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: hold: Right hand holds the mated white hexagonal nut on the purple rod without any observable movement."}, {"label": "subtasks", "start_step": 2220, "end_step": 2249, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: release: Right hand releases the white cylindrical block on the front right of the wooden rack, with fingers opening to separate from the block."}, {"label": "goal", "start_step": 2233, "end_step": 2326, "id": "225d2a60-dc3a-4a2f-b505-2b82ae888057"}, {"label": "subtasks", "start_step": 2250, "end_step": 2271, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: reach: Right hand moves down and right toward the white hexagonal nut on the black table surface, remaining empty without contacting the nut during movement."}, {"label": "subtasks", "start_step": 2272, "end_step": 2347, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand adjusts finger positions around the white hexagonal nut on the table, closing fingers to establish contact and adjust grip on the nut."}, {"label": "goal", "start_step": 2327, "end_step": 2520, "id": "dc056ce3-b29d-4722-99f6-f94fba068842"}, {"label": "subtasks", "start_step": 2348, "end_step": 2384, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the dark table surface and moves it upward to the position above the purple post on the wooden block assembly."}, {"label": "subtasks", "start_step": 2385, "end_step": 2399, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple post on the wooden base and lowers it to fit onto the post."}, {"label": "subtasks", "start_step": 2400, "end_step": 2504, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: hold: Right hand holds the white hexagonal nut fitted on the purple post without any observable movement of the hand or the nut."}, {"label": "subtasks", "start_step": 2505, "end_step": 2519, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: release: Right hand opens its fingers to release the grasp on the white hexagonal nut seated on the purple post."}, {"label": "subtasks", "start_step": 2520, "end_step": 2534, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: retreat: Right hand moves away from the wooden block assembly with an empty hand after releasing the nut."}, {"label": "goal", "start_step": 2521, "end_step": 2588, "id": "b289d10b-3fc5-4480-8b3c-b6d66847ea00"}, {"label": "subtasks", "start_step": 2535, "end_step": 2571, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: reach: Right hand moves downward toward the small green cube on the black table surface, with fingers open and no contact with the cube."}, {"label": "subtasks", "start_step": 2572, "end_step": 2601, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand closes its fingers around the small green cube on the table to establish a stable grasp, while the cube remains on the table surface."}, {"label": "goal", "start_step": 2589, "end_step": 3070, "id": "8e0c1731-2904-4c74-ba05-c7ca2f3caaac"}, {"label": "subtasks", "start_step": 2602, "end_step": 2617, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: lift: Right hand lifts the grasped green cube upward until the cube is fully separated from the table surface."}, {"label": "subtasks", "start_step": 2618, "end_step": 2647, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: transport: Right hand moves the lifted green cube upward and leftward to position it above the target white cylindrical peg on the wooden base."}, {"label": "subtasks", "start_step": 2648, "end_step": 3044, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: mate: Right hand makes small positional adjustments and slight rotations to the green cube to align its central hole with the top of the target white peg, until the hole fits over the peg top."}, {"label": "subtasks", "start_step": 3045, "end_step": 3074, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: place: Right hand lowers the aligned green cube downward along the peg until the cube rests securely on the peg, supported by the peg surface."}, {"label": "home", "start_step": 3104, "end_step": 3134, "id": "ABmaXlZosH35ucXD7C_L0"}], "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 side of the table without any observable movement. | Right hand: idle: Right hand remains empty at the right home position without any observable movement."}, {"label": "subtasks", "start_step": 60, "end_step": 111, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: reach: Right hand moves downward and leftward from the right home position toward the green hexagonal nut near the wooden block stand, remaining empty before contacting the target."}, {"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 any observable movement. | Right hand: grasp: Right hand closes fingers and adjusts wrist pose to establish grip on the green hexagonal nut near the wooden block stand, with the nut still resting on the table surface."}, {"label": "subtasks", "start_step": 202, "end_step": 231, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block off the table surface, transporting it upward to a position directly above the target purple peg on the wooden board."}, {"label": "subtasks", "start_step": 232, "end_step": 277, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: mate: Right hand aligns the central hole of the held green hexagonal block with the target purple peg, lowering the block to fit onto the peg."}, {"label": "subtasks", "start_step": 278, "end_step": 344, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple peg of the wooden board with no observable movement or adjustment."}, {"label": "subtasks", "start_step": 345, "end_step": 367, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: place_release: Right hand holds the white hexagonal nut, moves downward to place it onto the top of the green block on the left peg, and opens fingers to release the nut and separate from it."}, {"label": "subtasks", "start_step": 368, "end_step": 389, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: reach: Right hand moves downward toward the white hexagonal nut on the table surface while remaining empty, approaching the nut without establishing a grip."}, {"label": "subtasks", "start_step": 390, "end_step": 434, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, making small adjustments to finger position to form a stable grip while the nut remains on the table surface."}, {"label": "subtasks", "start_step": 435, "end_step": 464, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the table surface and carries it upward to position directly above the target purple peg on the pegboard."}, {"label": "subtasks", "start_step": 465, "end_step": 614, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: mate: Right hand aligns the grasped white hexagonal nut with the purple peg, moves downward to fit the nut onto the peg, and makes slight alignment adjustments until the nut rests stably on the lower block by the end of the segment."}, {"label": "subtasks", "start_step": 615, "end_step": 637, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: mate_release: Right hand holds the white-capped green bottle, aligns it with the purple peg on the wooden base, presses it into the assembled position, opening fingers to release the bottle."}, {"label": "subtasks", "start_step": 638, "end_step": 674, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: reach: Right hand moves downward through empty space toward the white hexagonal nut on the black table surface to approach the target."}, {"label": "subtasks", "start_step": 675, "end_step": 711, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, adjusting finger contact points to form a grip on the nut."}, {"label": "subtasks", "start_step": 712, "end_step": 741, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table surface and moves it upward to position directly above the target purple rod on the wooden assembly rack."}, {"label": "subtasks", "start_step": 742, "end_step": 921, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: mate: Right hand aligns the white hexagonal nut with the target purple rod, lowering it to fit over the rod and adjusting horizontal position to align with the green block below."}, {"label": "subtasks", "start_step": 922, "end_step": 981, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: reorient: Right hand rotates the white hexagonal nut slightly to correct its tilted orientation on the purple rod, with minimal horizontal movement."}, {"label": "subtasks", "start_step": 982, "end_step": 1034, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: press: Right hand applies downward pressure to the white hexagonal nut along the purple rod, pressing it down to seat onto the green block beneath."}, {"label": "subtasks", "start_step": 1035, "end_step": 1064, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: place: Right hand holds the white hexagonal block and positions it onto the top of the stacked structure on the wooden base until the block is stably supported."}, {"label": "subtasks", "start_step": 1065, "end_step": 1124, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: reach: Right hand moves downward empty from the stacked blocks toward the white hexagonal block resting on the table in front of the wooden base."}, {"label": "subtasks", "start_step": 1125, "end_step": 1214, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand closes fingers around the target white hexagonal block on the table, making fine adjustments to form a stable grasp."}, {"label": "subtasks", "start_step": 1215, "end_step": 1237, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface and moves it upward to position it directly above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1238, "end_step": 1409, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: mate: Right hand aligns the held white hexagonal block with the purple peg, makes small positional adjustments, and lowers the block to fit it onto the peg."}, {"label": "subtasks", "start_step": 1410, "end_step": 1439, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: release: Right hand releases the white cylindrical block placed on the purple peg, fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 1440, "end_step": 1461, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: reach: Right hand moves downward empty toward the front green hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1462, "end_step": 1529, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand adjusts finger contact and closes fingers around the green hexagonal block on the table to establish a stable grip."}, {"label": "subtasks", "start_step": 1530, "end_step": 1559, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the green hexagonal block completely off the table surface and moves it upward and leftward to position it directly above the empty purple peg on the wooden pegboard base."}, {"label": "subtasks", "start_step": 1560, "end_step": 1709, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: mate: Right hand makes small positional adjustments to the green hexagonal block to align its central hole with the purple peg, guiding the peg into the block's hole to achieve assembly alignment."}, {"label": "subtasks", "start_step": 1710, "end_step": 1724, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: place: Right hand lowers the aligned green hexagonal block down along the purple peg until the block rests stably on the surface of the wooden pegboard base."}, {"label": "subtasks", "start_step": 1725, "end_step": 1731, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: press_release: Right hand presses the purple cylindrical peg on the green block of the wooden pegboard and releases contact with the peg."}, {"label": "subtasks", "start_step": 1732, "end_step": 1769, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: reach: Right hand moves empty downward toward the white hexagonal nut resting on the black table surface."}, {"label": "subtasks", "start_step": 1770, "end_step": 1821, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the black table surface, adjusting finger contact positions to establish a grip on the nut."}, {"label": "subtasks", "start_step": 1822, "end_step": 1844, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table and moves it upward to the position above the purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 1845, "end_step": 1949, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple peg on the wooden base and moves it downward to fit the nut onto the peg."}, {"label": "subtasks", "start_step": 1950, "end_step": 2001, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: reach: Right hand moves downward from the stacked block assembly toward the closest white hexagonal block resting on the dark table surface."}, {"label": "subtasks", "start_step": 2002, "end_step": 2054, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: grasp_lift: Right hand closes fingers around the white hexagonal block on the table to establish a stable grip, lifting the block a short distance upward to raise it completely off the dark table surface."}, {"label": "subtasks", "start_step": 2055, "end_step": 2069, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: hold: Right hand holds the lifted white hexagonal block stationary above the table surface with no observable movement of the hand or block."}, {"label": "subtasks", "start_step": 2070, "end_step": 2091, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand closes fingers to secure a stable grasp on the white hexagonal nut placed next to the wooden block tray."}, {"label": "subtasks", "start_step": 2092, "end_step": 2137, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the black table surface and moves it upward to position directly above the purple rod on the wooden tray."}, {"label": "subtasks", "start_step": 2138, "end_step": 2159, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple rod and lowers the nut to fit onto the rod, establishing the mated connection."}, {"label": "subtasks", "start_step": 2160, "end_step": 2219, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: hold: Right hand holds the mated white hexagonal nut on the purple rod without any observable movement."}, {"label": "subtasks", "start_step": 2220, "end_step": 2249, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: release: Right hand releases the white cylindrical block on the front right of the wooden rack, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 2250, "end_step": 2271, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: reach: Right hand moves down and right toward the white hexagonal nut on the black table surface, remaining empty without contacting the nut during movement."}, {"label": "subtasks", "start_step": 2272, "end_step": 2347, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand adjusts finger positions around the white hexagonal nut on the table, closing fingers to establish contact and adjust grip on the nut."}, {"label": "subtasks", "start_step": 2348, "end_step": 2384, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the dark table surface and moves it upward to the position above the purple post on the wooden block assembly."}, {"label": "subtasks", "start_step": 2385, "end_step": 2399, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple post on the wooden base and lowers it to fit onto the post."}, {"label": "subtasks", "start_step": 2400, "end_step": 2504, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: hold: Right hand holds the white hexagonal nut fitted on the purple post without any observable movement of the hand or the nut."}, {"label": "subtasks", "start_step": 2505, "end_step": 2519, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: release: Right hand opens its fingers to release the grasp on the white hexagonal nut seated on the purple post."}, {"label": "subtasks", "start_step": 2520, "end_step": 2534, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: retreat: Right hand moves away from the wooden block assembly with an empty hand after releasing the nut."}, {"label": "subtasks", "start_step": 2535, "end_step": 2571, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: reach: Right hand moves downward toward the small green cube on the black table surface, with fingers open and no contact with the cube."}, {"label": "subtasks", "start_step": 2572, "end_step": 2601, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand closes its fingers around the small green cube on the table to establish a stable grasp, while the cube remains on the table surface."}, {"label": "subtasks", "start_step": 2602, "end_step": 2617, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: lift: Right hand lifts the grasped green cube upward until the cube is fully separated from the table surface."}, {"label": "subtasks", "start_step": 2618, "end_step": 2647, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: transport: Right hand moves the lifted green cube upward and leftward to position it above the target white cylindrical peg on the wooden base."}, {"label": "subtasks", "start_step": 2648, "end_step": 3044, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: mate: Right hand makes small positional adjustments and slight rotations to the green cube to align its central hole with the top of the target white peg, until the hole fits over the peg top."}, {"label": "subtasks", "start_step": 3045, "end_step": 3074, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: place: Right hand lowers the aligned green cube downward along the peg until the cube rests securely on the peg, supported by the peg surface."}], "episode_index": 26}
+{"source_uid": "30a62f84e07d709d", "num_frames": 2167, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 44, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_hand_posture: Left hand rotates its wrist and spreads its fingers, remaining empty at the left side of the workspace without contacting any operating object. | Right hand: reach: Right hand moves leftward and downward from the right side of the workspace, approaching the green hexagonal block on the table with fingers open."}, {"label": "goal", "start_step": 0, "end_step": 154, "id": "1c305387-be7d-4635-83b1-1ea9702765ec"}, {"label": "valid", "start_step": 0, "end_step": 2133, "id": "xwLcZRO2P4siBQjbiNtKx"}, {"label": "subtasks", "start_step": 45, "end_step": 74, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the workspace. | Right hand: reach: Right hand moves leftward and downward from the right side of the workspace, approaching the green hexagonal block on the table with fingers open."}, {"label": "subtasks", "start_step": 75, "end_step": 104, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the workspace. | Right hand: grasp: Right hand closes its fingers to grasp the green hexagonal block on the black table surface, with slight finger position adjustment."}, {"label": "subtasks", "start_step": 105, "end_step": 149, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the workspace. | Right hand: hold: Right hand holds the green hexagonal block on the table surface without any movement."}, {"label": "subtasks", "start_step": 150, "end_step": 179, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the workspace. | Right hand: grasp: Right hand grasps the green hexagonal block with a hole on the black table surface, with fingers closing to form a stable grip."}, {"label": "goal", "start_step": 155, "end_step": 328, "id": "bdbb5694-b3a9-450a-894c-2b9aac1deb74"}, {"label": "subtasks", "start_step": 180, "end_step": 187, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the workspace. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and moves it to the position above the leftmost purple peg of the wooden board."}, {"label": "subtasks", "start_step": 188, "end_step": 217, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the workspace. | Right hand: mate: Right hand mates the green hexagonal block onto the leftmost purple peg of the wooden board by lowering it along the peg."}, {"label": "subtasks", "start_step": 218, "end_step": 314, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the workspace. | Right hand: hold: Right hand holds the green hexagonal block on the leftmost purple peg of the wooden board without moving."}, {"label": "subtasks", "start_step": 315, "end_step": 337, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the workspace. | Right hand: release: Right hand releases the white annular part fitted on the purple peg of the wooden base."}, {"label": "goal", "start_step": 329, "end_step": 402, "id": "51e6e8fa-0c17-4bb1-802e-a79351033141"}, {"label": "subtasks", "start_step": 338, "end_step": 359, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the workspace. | Right hand: reach: Right hand moves downward toward the white hexagonal part on the black table surface."}, {"label": "subtasks", "start_step": 360, "end_step": 427, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the workspace. | Right hand: grasp: Right hand grasps the white hexagonal part on the black table surface with fingers closing and adjusting around it."}, {"label": "goal", "start_step": 403, "end_step": 548, "id": "ae83f26b-039d-4c4d-a3fe-6cb5c4154d9a"}, {"label": "subtasks", "start_step": 428, "end_step": 441, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the workspace. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table and transports it upward and rightward to position above the leftmost peg of the wooden rack."}, {"label": "subtasks", "start_step": 442, "end_step": 509, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the workspace. | Right hand: mate: Right hand aligns the white hexagonal nut with the leftmost green peg on the wooden rack and lowers it onto the peg to complete the assembly fit."}, {"label": "subtasks", "start_step": 510, "end_step": 539, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the workspace. | Right hand: release: Right hand gradually opens its fingers to release the white hexagonal nut from its grasp, while remaining positioned above the leftmost peg."}, {"label": "subtasks", "start_step": 540, "end_step": 569, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the workspace. | Right hand: place_release: Right hand places the white hexagonal block onto the purple peg of the wooden rack and releases the block."}, {"label": "goal", "start_step": 549, "end_step": 624, "id": "2aa3b074-5983-46a2-becd-f233fdaeaf23"}, {"label": "subtasks", "start_step": 570, "end_step": 584, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the workspace. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 585, "end_step": 614, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the workspace. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, with fingers closing and adjusting to stabilize the grip."}, {"label": "subtasks", "start_step": 615, "end_step": 644, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the workspace. | Right hand: hold: Right hand holds the white hexagonal block on the front part of the black table without moving."}, {"label": "goal", "start_step": 625, "end_step": 778, "id": "058ab70d-b17f-4606-ace3-54b06bc9dbf1"}, {"label": "subtasks", "start_step": 645, "end_step": 659, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the workspace. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it above the front-left test tube of the wooden test tube rack."}, {"label": "subtasks", "start_step": 660, "end_step": 741, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the workspace. | Right hand: mate: Right hand mates the white hexagonal block onto the front-left test tube by aligning the central hole with the test tube and lowering the block until it fits in place."}, {"label": "subtasks", "start_step": 742, "end_step": 764, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the workspace. | Right hand: hold: Right hand holds the white hexagonal block on the front-left test tube without moving."}, {"label": "subtasks", "start_step": 765, "end_step": 787, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the workspace. | Right hand: place_release: Right hand places the white cylindrical block onto the leftmost peg of the wooden base and releases the block with fingers opening."}, {"label": "goal", "start_step": 779, "end_step": 862, "id": "ccb22992-f37e-4d7b-9c62-e127ed9f7b6c"}, {"label": "subtasks", "start_step": 788, "end_step": 817, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the workspace. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table in front of the wooden base."}, {"label": "subtasks", "start_step": 818, "end_step": 831, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the workspace. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing around the block."}, {"label": "subtasks", "start_step": 832, "end_step": 854, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the workspace. | Right hand: hold: Right hand holds the white hexagonal block on the black table without moving."}, {"label": "subtasks", "start_step": 855, "end_step": 884, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the workspace. | Right hand: grasp: Right hand grasps the white hexagonal object on the black table surface, with fingers closing to form a stable grip while the object stays on the table."}, {"label": "goal", "start_step": 863, "end_step": 1082, "id": "dfad4b1c-0d71-4a77-906f-111c9880bf6a"}, {"label": "subtasks", "start_step": 885, "end_step": 899, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the workspace. | Right hand: lift_transport: Right hand lifts the white hexagonal object off the table and transports it upward to above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 900, "end_step": 1049, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the workspace. | Right hand: mate_release: Right hand aligns the white hexagonal object with the purple peg, fits it down onto the peg to complete assembly, and releases the object with opening fingers."}, {"label": "subtasks", "start_step": 1050, "end_step": 1079, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the workspace. | Right hand: idle: Right hand remains empty above the wooden base without moving."}, {"label": "subtasks", "start_step": 1080, "end_step": 1101, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the workspace. | Right hand: reach: Right hand moves downward from the pegboard area toward the green hexagonal part on the black table surface."}, {"label": "goal", "start_step": 1083, "end_step": 1136, "id": "d7cd4d44-b7cb-4b13-b0e3-5c4ee02b18a2"}, {"label": "subtasks", "start_step": 1102, "end_step": 1124, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the workspace. | Right hand: grasp: Right hand grasps the green hexagonal part on the table with fingers closing to form a stable grip."}, {"label": "subtasks", "start_step": 1125, "end_step": 1147, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the workspace. | Right hand: hold: Right hand holds the green hexagonal part on the table surface without moving."}, {"label": "goal", "start_step": 1137, "end_step": 1294, "id": "567768dd-955c-4099-b595-9384f8c7052f"}, {"label": "subtasks", "start_step": 1148, "end_step": 1177, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the workspace. | Right hand: lift_transport: Right hand lifts the green hexagonal part off the table and transports it upward to the position above the middle purple peg of the pegboard."}, {"label": "subtasks", "start_step": 1178, "end_step": 1289, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the workspace. | Right hand: place: Right hand places the green hexagonal part down along the middle purple peg until it rests on the white cylindrical part below."}, {"label": "subtasks", "start_step": 1290, "end_step": 1311, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the workspace. | Right hand: mate_release: Right hand mates the white hexagonal sleeve onto the purple peg of the block set and releases it."}, {"label": "goal", "start_step": 1295, "end_step": 1372, "id": "280fc185-7bf6-44a9-96cf-caf7c0d9062e"}, {"label": "subtasks", "start_step": 1312, "end_step": 1334, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the workspace. | Right hand: reach: Right hand moves downward toward the white hexagonal sleeve on the table."}, {"label": "subtasks", "start_step": 1335, "end_step": 1364, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the workspace. | Right hand: idle: Right hand remains empty above the white hexagonal sleeve on the table without moving."}, {"label": "subtasks", "start_step": 1365, "end_step": 1394, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the workspace. | Right hand: grasp: Right hand grasps the white hexagonal hollow part on the bottom right of the black table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 1373, "end_step": 1524, "id": "5d320093-b66f-40e4-b5bc-d2b75e798ac7"}, {"label": "subtasks", "start_step": 1395, "end_step": 1417, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the workspace. | Right hand: lift_transport: Right hand lifts the white hexagonal hollow part off the table and transports it upward and leftward to the top of the rightmost peg on the wooden base."}, {"label": "subtasks", "start_step": 1418, "end_step": 1484, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the workspace. | Right hand: mate: Right hand aligns the white hexagonal hollow part with the rightmost peg and moves it downward to fit the part onto the peg."}, {"label": "subtasks", "start_step": 1485, "end_step": 1514, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the workspace. | Right hand: hold: Right hand holds the white hexagonal hollow part that is fitted on the rightmost peg without moving."}, {"label": "subtasks", "start_step": 1515, "end_step": 1537, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the workspace. | Right hand: release: Right hand releases the white cylindrical sleeve on the purple peg of the wooden base, with fingers opening gradually to separate from the object."}, {"label": "goal", "start_step": 1525, "end_step": 1590, "id": "ad2b86d4-f9f5-4510-bb1c-89f8a6c60082"}, {"label": "subtasks", "start_step": 1538, "end_step": 1574, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the workspace. | Right hand: reach: Right hand moves downward and rightward toward the white hexagonal block on the black table, with fingers kept open."}, {"label": "subtasks", "start_step": 1575, "end_step": 1604, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the workspace. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, with fingers closing around the block to form a stable grip."}, {"label": "goal", "start_step": 1591, "end_step": 1724, "id": "a7375b6f-a578-405e-ab23-dedfb1fda8c7"}, {"label": "subtasks", "start_step": 1605, "end_step": 1627, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the workspace. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1628, "end_step": 1641, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the workspace. | Right hand: mate: Right hand mates the white hexagonal block with the top of the purple rod by aligning its hole with the rod."}, {"label": "subtasks", "start_step": 1642, "end_step": 1724, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the workspace. | Right hand: place_release: Right hand slides the white hexagonal block down the purple rod onto the wooden base and releases the block."}, {"label": "subtasks", "start_step": 1725, "end_step": 1747, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the workspace. | Right hand: mate: Right hand mates the white cylindrical block onto the purple rod in the rightmost column of the wooden base, adjusting the block position to fit properly."}, {"label": "goal", "start_step": 1725, "end_step": 1796, "id": "7d477d61-df25-4c17-bfa6-09cdc4c6503b"}, {"label": "subtasks", "start_step": 1748, "end_step": 1799, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the workspace. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table surface next to the green block."}, {"label": "goal", "start_step": 1797, "end_step": 1930, "id": "ee1d0b3f-d5bc-4abd-8004-636b2d565590"}, {"label": "subtasks", "start_step": 1800, "end_step": 1814, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the workspace. | Right hand: grasp: Right hand grasps the white hexagonal block on the table surface with fingers closing around the block."}, {"label": "subtasks", "start_step": 1815, "end_step": 1837, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the workspace. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table surface and transports it upward to the purple rod in the rightmost column of the wooden base."}, {"label": "subtasks", "start_step": 1838, "end_step": 1919, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the workspace. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod in the rightmost column of the wooden base, adjusting its position to complete the assembly."}, {"label": "subtasks", "start_step": 1920, "end_step": 1949, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the workspace. | Right hand: place_release: Right hand places the white hollow cylindrical object onto the purple peg of the wooden rack and releases its grip."}, {"label": "goal", "start_step": 1931, "end_step": 1996, "id": "7be61a3e-3288-4e79-9a17-dbc670a30582"}, {"label": "subtasks", "start_step": 1950, "end_step": 1987, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the workspace. | Right hand: reach: Right hand moves downward toward the green square block on the table surface."}, {"label": "subtasks", "start_step": 1988, "end_step": 2024, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the workspace. | Right hand: grasp: Right hand grasps the green square block on the table surface with fingers closing."}, {"label": "goal", "start_step": 1997, "end_step": 2086, "id": "08ce9776-c066-4916-9d36-e3e17efba962"}, {"label": "subtasks", "start_step": 2025, "end_step": 2039, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the workspace. | Right hand: lift: Right hand lifts the green square block upward until it completely leaves the table surface."}, {"label": "subtasks", "start_step": 2040, "end_step": 2061, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the workspace. | Right hand: transport: Right hand transports the green square block leftward to the position above the rightmost white post on the wooden base."}, {"label": "subtasks", "start_step": 2062, "end_step": 2084, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the workspace. | Right hand: mate: Right hand aligns the hole of the green square block with the rightmost white post and fits the block down onto the post."}, {"label": "subtasks", "start_step": 2085, "end_step": 2099, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the workspace. | Right hand: release: Right hand releases the green square block on the post, with fingers opening to separate from the block."}, {"label": "home", "start_step": 2134, "end_step": 2166, "id": "NA-i_0x8EOSvJrbGCU3qu"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 44, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_hand_posture: Left hand rotates its wrist and spreads its fingers, remaining empty at the left side of the workspace without contacting any operating object. | Right hand: reach: Right hand moves leftward and downward from the right side of the workspace, approaching the green hexagonal block on the table with fingers open."}, {"label": "subtasks", "start_step": 45, "end_step": 74, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the workspace. | Right hand: reach: Right hand moves leftward and downward from the right side of the workspace, approaching the green hexagonal block on the table with fingers open."}, {"label": "subtasks", "start_step": 75, "end_step": 104, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the workspace. | Right hand: grasp: Right hand closes its fingers to grasp the green hexagonal block on the black table surface, with slight finger position adjustment."}, {"label": "subtasks", "start_step": 105, "end_step": 149, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the workspace. | Right hand: hold: Right hand holds the green hexagonal block on the table surface without any movement."}, {"label": "subtasks", "start_step": 150, "end_step": 179, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the workspace. | Right hand: grasp: Right hand grasps the green hexagonal block with a hole on the black table surface, with fingers closing to form a stable grip."}, {"label": "subtasks", "start_step": 180, "end_step": 187, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the workspace. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and moves it to the position above the leftmost purple peg of the wooden board."}, {"label": "subtasks", "start_step": 188, "end_step": 217, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the workspace. | Right hand: mate: Right hand mates the green hexagonal block onto the leftmost purple peg of the wooden board by lowering it along the peg."}, {"label": "subtasks", "start_step": 218, "end_step": 314, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the workspace. | Right hand: hold: Right hand holds the green hexagonal block on the leftmost purple peg of the wooden board without moving."}, {"label": "subtasks", "start_step": 315, "end_step": 337, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the workspace. | Right hand: release: Right hand releases the white annular part fitted on the purple peg of the wooden base."}, {"label": "subtasks", "start_step": 338, "end_step": 359, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the workspace. | Right hand: reach: Right hand moves downward toward the white hexagonal part on the black table surface."}, {"label": "subtasks", "start_step": 360, "end_step": 427, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the workspace. | Right hand: grasp: Right hand grasps the white hexagonal part on the black table surface with fingers closing and adjusting around it."}, {"label": "subtasks", "start_step": 428, "end_step": 441, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the workspace. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table and transports it upward and rightward to position above the leftmost peg of the wooden rack."}, {"label": "subtasks", "start_step": 442, "end_step": 509, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the workspace. | Right hand: mate: Right hand aligns the white hexagonal nut with the leftmost green peg on the wooden rack and lowers it onto the peg to complete the assembly fit."}, {"label": "subtasks", "start_step": 510, "end_step": 539, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the workspace. | Right hand: release: Right hand gradually opens its fingers to release the white hexagonal nut from its grasp, while remaining positioned above the leftmost peg."}, {"label": "subtasks", "start_step": 540, "end_step": 569, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the workspace. | Right hand: place_release: Right hand places the white hexagonal block onto the purple peg of the wooden rack and releases the block."}, {"label": "subtasks", "start_step": 570, "end_step": 584, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the workspace. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 585, "end_step": 614, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the workspace. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, with fingers closing and adjusting to stabilize the grip."}, {"label": "subtasks", "start_step": 615, "end_step": 644, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the workspace. | Right hand: hold: Right hand holds the white hexagonal block on the front part of the black table without moving."}, {"label": "subtasks", "start_step": 645, "end_step": 659, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the workspace. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it above the front-left test tube of the wooden test tube rack."}, {"label": "subtasks", "start_step": 660, "end_step": 741, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the workspace. | Right hand: mate: Right hand mates the white hexagonal block onto the front-left test tube by aligning the central hole with the test tube and lowering the block until it fits in place."}, {"label": "subtasks", "start_step": 742, "end_step": 764, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the workspace. | Right hand: hold: Right hand holds the white hexagonal block on the front-left test tube without moving."}, {"label": "subtasks", "start_step": 765, "end_step": 787, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the workspace. | Right hand: place_release: Right hand places the white cylindrical block onto the leftmost peg of the wooden base and releases the block with fingers opening."}, {"label": "subtasks", "start_step": 788, "end_step": 817, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the workspace. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table in front of the wooden base."}, {"label": "subtasks", "start_step": 818, "end_step": 831, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the workspace. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing around the block."}, {"label": "subtasks", "start_step": 832, "end_step": 854, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the workspace. | Right hand: hold: Right hand holds the white hexagonal block on the black table without moving."}, {"label": "subtasks", "start_step": 855, "end_step": 884, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the workspace. | Right hand: grasp: Right hand grasps the white hexagonal object on the black table surface, with fingers closing to form a stable grip while the object stays on the table."}, {"label": "subtasks", "start_step": 885, "end_step": 899, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the workspace. | Right hand: lift_transport: Right hand lifts the white hexagonal object off the table and transports it upward to above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 900, "end_step": 1049, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the workspace. | Right hand: mate_release: Right hand aligns the white hexagonal object with the purple peg, fits it down onto the peg to complete assembly, and releases the object with opening fingers."}, {"label": "subtasks", "start_step": 1050, "end_step": 1079, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the workspace. | Right hand: idle: Right hand remains empty above the wooden base without moving."}, {"label": "subtasks", "start_step": 1080, "end_step": 1101, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the workspace. | Right hand: reach: Right hand moves downward from the pegboard area toward the green hexagonal part on the black table surface."}, {"label": "subtasks", "start_step": 1102, "end_step": 1124, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the workspace. | Right hand: grasp: Right hand grasps the green hexagonal part on the table with fingers closing to form a stable grip."}, {"label": "subtasks", "start_step": 1125, "end_step": 1147, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the workspace. | Right hand: hold: Right hand holds the green hexagonal part on the table surface without moving."}, {"label": "subtasks", "start_step": 1148, "end_step": 1177, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the workspace. | Right hand: lift_transport: Right hand lifts the green hexagonal part off the table and transports it upward to the position above the middle purple peg of the pegboard."}, {"label": "subtasks", "start_step": 1178, "end_step": 1289, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the workspace. | Right hand: place: Right hand places the green hexagonal part down along the middle purple peg until it rests on the white cylindrical part below."}, {"label": "subtasks", "start_step": 1290, "end_step": 1311, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the workspace. | Right hand: mate_release: Right hand mates the white hexagonal sleeve onto the purple peg of the block set and releases it."}, {"label": "subtasks", "start_step": 1312, "end_step": 1334, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the workspace. | Right hand: reach: Right hand moves downward toward the white hexagonal sleeve on the table."}, {"label": "subtasks", "start_step": 1335, "end_step": 1364, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the workspace. | Right hand: idle: Right hand remains empty above the white hexagonal sleeve on the table without moving."}, {"label": "subtasks", "start_step": 1365, "end_step": 1394, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the workspace. | Right hand: grasp: Right hand grasps the white hexagonal hollow part on the bottom right of the black table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1395, "end_step": 1417, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the workspace. | Right hand: lift_transport: Right hand lifts the white hexagonal hollow part off the table and transports it upward and leftward to the top of the rightmost peg on the wooden base."}, {"label": "subtasks", "start_step": 1418, "end_step": 1484, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the workspace. | Right hand: mate: Right hand aligns the white hexagonal hollow part with the rightmost peg and moves it downward to fit the part onto the peg."}, {"label": "subtasks", "start_step": 1485, "end_step": 1514, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the workspace. | Right hand: hold: Right hand holds the white hexagonal hollow part that is fitted on the rightmost peg without moving."}, {"label": "subtasks", "start_step": 1515, "end_step": 1537, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the workspace. | Right hand: release: Right hand releases the white cylindrical sleeve on the purple peg of the wooden base, with fingers opening gradually to separate from the object."}, {"label": "subtasks", "start_step": 1538, "end_step": 1574, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the workspace. | Right hand: reach: Right hand moves downward and rightward toward the white hexagonal block on the black table, with fingers kept open."}, {"label": "subtasks", "start_step": 1575, "end_step": 1604, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the workspace. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, with fingers closing around the block to form a stable grip."}, {"label": "subtasks", "start_step": 1605, "end_step": 1627, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the workspace. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1628, "end_step": 1641, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the workspace. | Right hand: mate: Right hand mates the white hexagonal block with the top of the purple rod by aligning its hole with the rod."}, {"label": "subtasks", "start_step": 1642, "end_step": 1724, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the workspace. | Right hand: place_release: Right hand slides the white hexagonal block down the purple rod onto the wooden base and releases the block."}, {"label": "subtasks", "start_step": 1725, "end_step": 1747, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the workspace. | Right hand: mate: Right hand mates the white cylindrical block onto the purple rod in the rightmost column of the wooden base, adjusting the block position to fit properly."}, {"label": "subtasks", "start_step": 1748, "end_step": 1799, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the workspace. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table surface next to the green block."}, {"label": "subtasks", "start_step": 1800, "end_step": 1814, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the workspace. | Right hand: grasp: Right hand grasps the white hexagonal block on the table surface with fingers closing around the block."}, {"label": "subtasks", "start_step": 1815, "end_step": 1837, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the workspace. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table surface and transports it upward to the purple rod in the rightmost column of the wooden base."}, {"label": "subtasks", "start_step": 1838, "end_step": 1919, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the workspace. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod in the rightmost column of the wooden base, adjusting its position to complete the assembly."}, {"label": "subtasks", "start_step": 1920, "end_step": 1949, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the workspace. | Right hand: place_release: Right hand places the white hollow cylindrical object onto the purple peg of the wooden rack and releases its grip."}, {"label": "subtasks", "start_step": 1950, "end_step": 1987, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the workspace. | Right hand: reach: Right hand moves downward toward the green square block on the table surface."}, {"label": "subtasks", "start_step": 1988, "end_step": 2024, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the workspace. | Right hand: grasp: Right hand grasps the green square block on the table surface with fingers closing."}, {"label": "subtasks", "start_step": 2025, "end_step": 2039, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the workspace. | Right hand: lift: Right hand lifts the green square block upward until it completely leaves the table surface."}, {"label": "subtasks", "start_step": 2040, "end_step": 2061, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the workspace. | Right hand: transport: Right hand transports the green square block leftward to the position above the rightmost white post on the wooden base."}, {"label": "subtasks", "start_step": 2062, "end_step": 2084, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the workspace. | Right hand: mate: Right hand aligns the hole of the green square block with the rightmost white post and fits the block down onto the post."}, {"label": "subtasks", "start_step": 2085, "end_step": 2099, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the workspace. | Right hand: release: Right hand releases the green square block on the post, with fingers opening to separate from the block."}], "episode_index": 27}
+{"source_uid": "962f77fa3f0c99db", "num_frames": 2375, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 37, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_position: Left hand moves slightly forward to adjust its position at the left side of the table. | Right hand: reach: Right hand moves forward towards the green hexagonal block on the black table in front of the wooden peg base."}, {"label": "goal", "start_step": 0, "end_step": 162, "id": "129edb08-830d-46be-9d2d-74a5f8d0cb45"}, {"label": "valid", "start_step": 0, "end_step": 2341, "id": "aCHZvVelhJhBOiWpnJn6e"}, {"label": "subtasks", "start_step": 38, "end_step": 74, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves forward towards the green hexagonal block on the black table in front of the wooden peg base."}, {"label": "subtasks", "start_step": 75, "end_step": 97, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand closes its fingers to form a stable grasp on the green hexagonal block."}, {"label": "subtasks", "start_step": 98, "end_step": 149, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: hold: Right hand holds the green hexagonal block without any movement."}, {"label": "subtasks", "start_step": 150, "end_step": 179, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand grasps the green block on the black table, adjusting fingers to form stable grip."}, {"label": "goal", "start_step": 163, "end_step": 316, "id": "6201afe1-614c-4c82-8311-24c0126eaabd"}, {"label": "subtasks", "start_step": 180, "end_step": 194, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it to the top of the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 195, "end_step": 337, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand mates the green block with the purple rod on the wooden base by inserting it down onto the rod."}, {"label": "goal", "start_step": 317, "end_step": 398, "id": "935362f3-d90b-42fd-90b2-c32719d2942a"}, {"label": "subtasks", "start_step": 338, "end_step": 359, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 360, "end_step": 419, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand grasps the white hexagonal block on the black tabletop, adjusting fingers to form stable contact."}, {"label": "goal", "start_step": 399, "end_step": 562, "id": "9024b2cf-8e93-4fcb-9fa0-e295958bc386"}, {"label": "subtasks", "start_step": 420, "end_step": 441, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal block and transports it to the top of the leftmost purple rod on the wooden base."}, {"label": "subtasks", "start_step": 442, "end_step": 561, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand mates the white hexagonal block onto the leftmost purple rod by pushing it down along the rod."}, {"label": "subtasks", "start_step": 562, "end_step": 569, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: release: Right hand releases the white hexagonal block after it is installed on the rod."}, {"label": "goal", "start_step": 563, "end_step": 638, "id": "c2a42a5d-264e-4873-b08f-d052e76ac5e2"}, {"label": "subtasks", "start_step": 570, "end_step": 584, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand mates the white hexagonal block onto the leftmost purple rod by pushing it down along the rod."}, {"label": "subtasks", "start_step": 585, "end_step": 621, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand reaches downwards towards the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 622, "end_step": 659, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table."}, {"label": "goal", "start_step": 639, "end_step": 848, "id": "a49242da-be9c-4615-8b75-2c40da1c78af"}, {"label": "subtasks", "start_step": 660, "end_step": 689, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it to the position above the leftmost purple post on the wooden base."}, {"label": "subtasks", "start_step": 690, "end_step": 839, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand aligns the white hexagonal block with the leftmost purple post and inserts it onto the post."}, {"label": "subtasks", "start_step": 840, "end_step": 847, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: release: Right hand releases the white hexagonal block that is fitted on the purple post."}, {"label": "subtasks", "start_step": 848, "end_step": 861, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand mates the white cylindrical ring onto the top of the purple peg on the wooden base."}, {"label": "goal", "start_step": 849, "end_step": 920, "id": "eb7e7bd9-b2d4-47cc-b07f-29be73880993"}, {"label": "subtasks", "start_step": 862, "end_step": 884, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 885, "end_step": 937, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand contacts the white hexagonal block on the table and adjusts fingers to form a stable grasp."}, {"label": "goal", "start_step": 921, "end_step": 1062, "id": "eae56765-88f6-46f9-91e6-bcd44143f22d"}, {"label": "subtasks", "start_step": 938, "end_step": 959, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it to the top of the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 960, "end_step": 1049, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod by inserting the rod into the central hole of the block."}, {"label": "subtasks", "start_step": 1050, "end_step": 1079, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: place_release: Right hand places and releases the white ring onto the purple peg on the wooden base."}, {"label": "goal", "start_step": 1063, "end_step": 1144, "id": "fce294c7-012f-451b-9c34-c0fc849dc4ff"}, {"label": "subtasks", "start_step": 1080, "end_step": 1139, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the table."}, {"label": "subtasks", "start_step": 1140, "end_step": 1169, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table."}, {"label": "goal", "start_step": 1145, "end_step": 1274, "id": "f87ff403-2064-4a44-b777-fda3a6e0e5e3"}, {"label": "subtasks", "start_step": 1170, "end_step": 1191, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table and transports it towards the wooden peg base."}, {"label": "subtasks", "start_step": 1192, "end_step": 1274, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand mates the green hexagonal block onto the target peg on the wooden base."}, {"label": "subtasks", "start_step": 1275, "end_step": 1297, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: release: Right hand releases the white hexagonal block on the wooden base peg."}, {"label": "goal", "start_step": 1275, "end_step": 1346, "id": "106f369f-8a53-4e01-a2e4-d951d0580b0b"}, {"label": "subtasks", "start_step": 1298, "end_step": 1327, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves downwards towards the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1328, "end_step": 1364, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table surface."}, {"label": "goal", "start_step": 1347, "end_step": 1500, "id": "9c024a01-4eb8-4349-8106-7abf34a714a1"}, {"label": "subtasks", "start_step": 1365, "end_step": 1387, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and moves it towards the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1388, "end_step": 1477, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg and inserts it downwards onto the peg."}, {"label": "subtasks", "start_step": 1478, "end_step": 1499, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: release: Right hand releases the white hexagonal block from its grasp."}, {"label": "subtasks", "start_step": 1500, "end_step": 1529, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: place_release: Right hand places the white cylindrical block onto the peg of the wooden base and releases the block."}, {"label": "goal", "start_step": 1501, "end_step": 1602, "id": "a63efa1a-cbe2-4cf3-a23a-eccf6f42d9a5"}, {"label": "subtasks", "start_step": 1530, "end_step": 1551, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1552, "end_step": 1619, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the black table surface."}, {"label": "goal", "start_step": 1603, "end_step": 1884, "id": "82317fdb-639e-47f8-a04a-176529edb03a"}, {"label": "subtasks", "start_step": 1620, "end_step": 1664, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it to the upper position of the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1665, "end_step": 1747, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod by aligning and inserting it."}, {"label": "subtasks", "start_step": 1748, "end_step": 1867, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: hold: Right hand holds the white hexagonal block on the purple rod without obvious movement."}, {"label": "subtasks", "start_step": 1868, "end_step": 1874, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: release: Right hand releases the white hexagonal block, which slides down to the bottom of the purple rod."}, {"label": "subtasks", "start_step": 1875, "end_step": 1904, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: place: Right hand places the white hexagonal block onto the peg of the wooden base and adjusts it to be stably supported."}, {"label": "goal", "start_step": 1885, "end_step": 1956, "id": "bf770b5b-7e70-4c90-b23c-545f90263ad0"}, {"label": "subtasks", "start_step": 1905, "end_step": 1941, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves downward towards the white hexagonal block placed on the black table surface."}, {"label": "subtasks", "start_step": 1942, "end_step": 1979, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the black table surface."}, {"label": "goal", "start_step": 1957, "end_step": 2084, "id": "d8318106-7d5f-4517-9eed-b3ead063f453"}, {"label": "subtasks", "start_step": 1980, "end_step": 2001, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the tabletop and moves it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2002, "end_step": 2054, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and fits it onto the rod."}, {"label": "subtasks", "start_step": 2055, "end_step": 2084, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: release: Right hand releases the white hexagonal block, fingers open to separate from the block."}, {"label": "subtasks", "start_step": 2085, "end_step": 2129, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves downward towards the green block placed on the black table surface."}, {"label": "goal", "start_step": 2085, "end_step": 2154, "id": "df66bd17-7fe5-44e5-aca5-1be629992c35"}, {"label": "subtasks", "start_step": 2130, "end_step": 2167, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand closes its fingers to form a stable grasp around the green block on the table."}, {"label": "goal", "start_step": 2155, "end_step": 2302, "id": "9f0e6b64-a7cb-4848-958c-bee6666ef290"}, {"label": "subtasks", "start_step": 2168, "end_step": 2181, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift: Right hand lifts the grasped green block completely off the table surface."}, {"label": "subtasks", "start_step": 2182, "end_step": 2197, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: transport: Right hand carries the green block to the top area of the rightmost white bottle on the wooden base."}, {"label": "subtasks", "start_step": 2198, "end_step": 2287, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand aligns the green block with the top of the rightmost white bottle and fits the block onto the bottle."}, {"label": "subtasks", "start_step": 2288, "end_step": 2301, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: release: Right hand opens its fingers to release the green block from the grasp."}, {"label": "subtasks", "start_step": 2302, "end_step": 2309, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: retreat: Right hand moves slightly away from the assembled green block and bottle."}, {"label": "home", "start_step": 2342, "end_step": 2374, "id": "pOpzDVY7OfZUJmotA1q_b"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 37, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_position: Left hand moves slightly forward to adjust its position at the left side of the table. | Right hand: reach: Right hand moves forward towards the green hexagonal block on the black table in front of the wooden peg base."}, {"label": "subtasks", "start_step": 38, "end_step": 74, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves forward towards the green hexagonal block on the black table in front of the wooden peg base."}, {"label": "subtasks", "start_step": 75, "end_step": 97, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand closes its fingers to form a stable grasp on the green hexagonal block."}, {"label": "subtasks", "start_step": 98, "end_step": 149, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: hold: Right hand holds the green hexagonal block without any movement."}, {"label": "subtasks", "start_step": 150, "end_step": 179, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand grasps the green block on the black table, adjusting fingers to form stable grip."}, {"label": "subtasks", "start_step": 180, "end_step": 194, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it to the top of the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 195, "end_step": 337, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand mates the green block with the purple rod on the wooden base by inserting it down onto the rod."}, {"label": "subtasks", "start_step": 338, "end_step": 359, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 360, "end_step": 419, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand grasps the white hexagonal block on the black tabletop, adjusting fingers to form stable contact."}, {"label": "subtasks", "start_step": 420, "end_step": 441, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal block and transports it to the top of the leftmost purple rod on the wooden base."}, {"label": "subtasks", "start_step": 442, "end_step": 561, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand mates the white hexagonal block onto the leftmost purple rod by pushing it down along the rod."}, {"label": "subtasks", "start_step": 562, "end_step": 569, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: release: Right hand releases the white hexagonal block after it is installed on the rod."}, {"label": "subtasks", "start_step": 570, "end_step": 584, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand mates the white hexagonal block onto the leftmost purple rod by pushing it down along the rod."}, {"label": "subtasks", "start_step": 585, "end_step": 621, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand reaches downwards towards the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 622, "end_step": 659, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 660, "end_step": 689, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it to the position above the leftmost purple post on the wooden base."}, {"label": "subtasks", "start_step": 690, "end_step": 839, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand aligns the white hexagonal block with the leftmost purple post and inserts it onto the post."}, {"label": "subtasks", "start_step": 840, "end_step": 847, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: release: Right hand releases the white hexagonal block that is fitted on the purple post."}, {"label": "subtasks", "start_step": 848, "end_step": 861, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand mates the white cylindrical ring onto the top of the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 862, "end_step": 884, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 885, "end_step": 937, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand contacts the white hexagonal block on the table and adjusts fingers to form a stable grasp."}, {"label": "subtasks", "start_step": 938, "end_step": 959, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it to the top of the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 960, "end_step": 1049, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod by inserting the rod into the central hole of the block."}, {"label": "subtasks", "start_step": 1050, "end_step": 1079, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: place_release: Right hand places and releases the white ring onto the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1080, "end_step": 1139, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the table."}, {"label": "subtasks", "start_step": 1140, "end_step": 1169, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table."}, {"label": "subtasks", "start_step": 1170, "end_step": 1191, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table and transports it towards the wooden peg base."}, {"label": "subtasks", "start_step": 1192, "end_step": 1274, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand mates the green hexagonal block onto the target peg on the wooden base."}, {"label": "subtasks", "start_step": 1275, "end_step": 1297, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: release: Right hand releases the white hexagonal block on the wooden base peg."}, {"label": "subtasks", "start_step": 1298, "end_step": 1327, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves downwards towards the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1328, "end_step": 1364, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1365, "end_step": 1387, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and moves it towards the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1388, "end_step": 1477, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg and inserts it downwards onto the peg."}, {"label": "subtasks", "start_step": 1478, "end_step": 1499, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: release: Right hand releases the white hexagonal block from its grasp."}, {"label": "subtasks", "start_step": 1500, "end_step": 1529, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: place_release: Right hand places the white cylindrical block onto the peg of the wooden base and releases the block."}, {"label": "subtasks", "start_step": 1530, "end_step": 1551, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1552, "end_step": 1619, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1620, "end_step": 1664, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it to the upper position of the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1665, "end_step": 1747, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod by aligning and inserting it."}, {"label": "subtasks", "start_step": 1748, "end_step": 1867, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: hold: Right hand holds the white hexagonal block on the purple rod without obvious movement."}, {"label": "subtasks", "start_step": 1868, "end_step": 1874, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: release: Right hand releases the white hexagonal block, which slides down to the bottom of the purple rod."}, {"label": "subtasks", "start_step": 1875, "end_step": 1904, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: place: Right hand places the white hexagonal block onto the peg of the wooden base and adjusts it to be stably supported."}, {"label": "subtasks", "start_step": 1905, "end_step": 1941, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves downward towards the white hexagonal block placed on the black table surface."}, {"label": "subtasks", "start_step": 1942, "end_step": 1979, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1980, "end_step": 2001, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the tabletop and moves it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2002, "end_step": 2054, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and fits it onto the rod."}, {"label": "subtasks", "start_step": 2055, "end_step": 2084, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: release: Right hand releases the white hexagonal block, fingers open to separate from the block."}, {"label": "subtasks", "start_step": 2085, "end_step": 2129, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves downward towards the green block placed on the black table surface."}, {"label": "subtasks", "start_step": 2130, "end_step": 2167, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand closes its fingers to form a stable grasp around the green block on the table."}, {"label": "subtasks", "start_step": 2168, "end_step": 2181, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift: Right hand lifts the grasped green block completely off the table surface."}, {"label": "subtasks", "start_step": 2182, "end_step": 2197, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: transport: Right hand carries the green block to the top area of the rightmost white bottle on the wooden base."}, {"label": "subtasks", "start_step": 2198, "end_step": 2287, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand aligns the green block with the top of the rightmost white bottle and fits the block onto the bottle."}, {"label": "subtasks", "start_step": 2288, "end_step": 2301, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: release: Right hand opens its fingers to release the green block from the grasp."}, {"label": "subtasks", "start_step": 2302, "end_step": 2309, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: retreat: Right hand moves slightly away from the assembled green block and bottle."}], "episode_index": 28}
+{"source_uid": "9ab0f428ac71b69d", "num_frames": 2439, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 81, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any visible movement of the hand or fingers. | Right hand: reach: Right hand moves downward and leftward from its initial upper right position toward the green hexagonal block on the table in front of the left side of the wooden peg base, with fingers kept open during the movement."}, {"label": "goal", "start_step": 0, "end_step": 132, "id": "b1a214e0-330d-4872-9d15-c7d7732c966d"}, {"label": "valid", "start_step": 0, "end_step": 2406, "id": "afzBKYxLJnoTFs843Hn1V"}, {"label": "subtasks", "start_step": 82, "end_step": 179, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any visible movement of the hand or fingers. | Right hand: grasp: Right hand makes contact with the target green hexagonal block on the table, closing fingers around the block and adjusting contact points to establish a grip, with the block remaining on the table surface."}, {"label": "goal", "start_step": 133, "end_step": 324, "id": "773e67b5-8d7c-4110-a950-ad9e2a67ca82"}, {"label": "subtasks", "start_step": 180, "end_step": 209, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any visible movement of the hand or fingers. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block off the table surface and transports it upward to the position directly above the purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 210, "end_step": 314, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any visible movement of the hand or fingers. | Right hand: mate: Right hand aligns the inner hole of the green hexagonal block with the purple peg and lowers the block to fit onto the peg until it sits stably on the wooden base."}, {"label": "subtasks", "start_step": 315, "end_step": 351, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any visible movement of the hand or fingers. | Right hand: reach: Right hand moves downward from the area near the block rack toward the white hexagonal nut placed on the table, without contacting the target nut."}, {"label": "goal", "start_step": 325, "end_step": 404, "id": "6dafb729-ccb8-44ec-ac62-81fd6486124e"}, {"label": "subtasks", "start_step": 352, "end_step": 404, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any visible movement of the hand or fingers. | Right hand: grasp: Right hand adjusts finger positions and closes fingers around the white hexagonal nut on the table to form a grip."}, {"label": "subtasks", "start_step": 405, "end_step": 434, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any visible movement of the hand or fingers. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the black table surface and moves it to the position directly above the purple peg on the wooden base, with fingers closed around the block."}, {"label": "goal", "start_step": 405, "end_step": 530, "id": "28b84527-edaa-406a-a72f-d4b172adae29"}, {"label": "subtasks", "start_step": 435, "end_step": 479, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any visible movement of the hand or fingers. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple peg and moves the block downward to nest it onto the peg until it rests on the green base."}, {"label": "subtasks", "start_step": 480, "end_step": 524, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any visible movement of the hand or fingers. | Right hand: hold: Right hand holds the white hexagonal block nested on the purple peg without noticeable movement of the hand or the block."}, {"label": "subtasks", "start_step": 525, "end_step": 547, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any visible movement of the hand or fingers. | Right hand: release: Right hand opens fingers to release the previously placed white hexagonal block on the wooden assembly base, separating from the block."}, {"label": "goal", "start_step": 531, "end_step": 594, "id": "af79288a-af6d-4166-a6b3-b3ff6ceeace4"}, {"label": "subtasks", "start_step": 548, "end_step": 577, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any visible movement of the hand or fingers. | Right hand: reach: Right hand moves downward with open fingers toward the white hexagonal nut resting on the black table surface in front of the assembly base."}, {"label": "subtasks", "start_step": 578, "end_step": 614, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any visible movement of the hand or fingers. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, making small adjustments to form a stable grasp."}, {"label": "goal", "start_step": 595, "end_step": 776, "id": "d7ab2fbd-8981-411a-a495-62e38cf48fad"}, {"label": "subtasks", "start_step": 615, "end_step": 644, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any visible movement of the hand or fingers. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward to position it above the target purple peg on the wooden base."}, {"label": "subtasks", "start_step": 645, "end_step": 734, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any visible movement of the hand or fingers. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the target purple peg, making small wrist adjustments to slide the nut down the peg and complete the fitting."}, {"label": "subtasks", "start_step": 735, "end_step": 764, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any visible movement of the hand or fingers. | Right hand: hold: Right hand holds the fitted white hexagonal nut on the purple peg without any visible movement of the hand or the nut."}, {"label": "subtasks", "start_step": 765, "end_step": 794, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any visible movement of the hand or fingers. | Right hand: mate_release: Right hand aligns and seats the white hexagonal block onto the purple peg on the wooden rack, opening fingers to release the block."}, {"label": "goal", "start_step": 777, "end_step": 846, "id": "e273050e-0fc9-4f6d-ad1f-a248bf6b2b59"}, {"label": "subtasks", "start_step": 795, "end_step": 824, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any visible movement of the hand or fingers. | Right hand: reach: Right hand moves downward empty toward the white hexagonal block placed on the table adjacent to the wooden rack."}, {"label": "subtasks", "start_step": 825, "end_step": 861, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any visible movement of the hand or fingers. | Right hand: grasp: Right hand closes fingers around the target white hexagonal block on the table, making small adjustments to establish a stable grip."}, {"label": "goal", "start_step": 847, "end_step": 1084, "id": "871c7e1a-d79c-4734-8bf7-77ac252acd3f"}, {"label": "subtasks", "start_step": 862, "end_step": 891, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any visible movement of the hand or fingers. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface and moves it to position directly above the purple vertical peg on the wooden base."}, {"label": "subtasks", "start_step": 892, "end_step": 1079, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any visible movement of the hand or fingers. | Right hand: mate: Right hand aligns the white hexagonal block with the purple vertical peg and moves the block downward to nest it securely onto the peg."}, {"label": "subtasks", "start_step": 1080, "end_step": 1101, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any visible movement of the hand or fingers. | Right hand: release: Right hand opens its fingers to release the light purple cylindrical peg on the wooden assembly base, separating fully from the peg by the end of the segment."}, {"label": "goal", "start_step": 1085, "end_step": 1158, "id": "ce86d3ef-f2cb-4234-9160-3463a56bfdc0"}, {"label": "subtasks", "start_step": 1102, "end_step": 1147, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any visible movement of the hand or fingers. | Right hand: reach: Right hand moves downward empty toward the green hexagonal nut placed on the black table surface in front of the assembly base."}, {"label": "subtasks", "start_step": 1148, "end_step": 1154, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any visible movement of the hand or fingers. | Right hand: grasp: Right hand contacts the target green hexagonal nut, adjusting finger positions and closing around the nut to form a stable grasp."}, {"label": "subtasks", "start_step": 1155, "end_step": 1177, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any visible movement of the hand or fingers. | Right hand: lift: Right hand lifts the grasped green hexagonal block upward from the black table surface."}, {"label": "goal", "start_step": 1159, "end_step": 1476, "id": "baba93e7-03b2-41e9-acfc-46784cd223c9"}, {"label": "subtasks", "start_step": 1178, "end_step": 1199, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any visible movement of the hand or fingers. | Right hand: transport: Right hand carries the green hexagonal block toward the wooden assembly stand, positioning the block directly above the purple vertical post."}, {"label": "subtasks", "start_step": 1200, "end_step": 1469, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any visible movement of the hand or fingers. | Right hand: mate: Right hand adjusts the position and orientation of the green hexagonal block to align its central hole with the purple post, then lowers the block to fit onto the post until it rests on the white block below."}, {"label": "subtasks", "start_step": 1470, "end_step": 1499, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any visible movement of the hand or fingers. | Right hand: idle: Right hand remains empty above the stacked block set without any obvious movement."}, {"label": "goal", "start_step": 1477, "end_step": 1556, "id": "37dcd6c0-0423-4688-a3ce-3dc396a9f256"}, {"label": "subtasks", "start_step": 1500, "end_step": 1537, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any visible movement of the hand or fingers. | Right hand: reach: Right hand moves downward with open fingers from the stacked block area toward the white hexagonal block placed on the front table surface."}, {"label": "subtasks", "start_step": 1538, "end_step": 1574, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any visible movement of the hand or fingers. | Right hand: grasp: Right hand closes fingers around the front white hexagonal block to establish a grip."}, {"label": "goal", "start_step": 1557, "end_step": 1714, "id": "78f2843b-a4aa-4f1a-90d1-1ab7424e8976"}, {"label": "subtasks", "start_step": 1575, "end_step": 1604, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any visible movement of the hand or fingers. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward to the position directly above the purple rod on the wooden block assembly base."}, {"label": "subtasks", "start_step": 1605, "end_step": 1709, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any visible movement of the hand or fingers. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple rod on the block assembly base, makes slight positional adjustments, and lowers the nut to fit onto the rod."}, {"label": "subtasks", "start_step": 1710, "end_step": 1739, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any visible movement of the hand or fingers. | Right hand: reach: Right hand moves downward and rightward from above the stacked block assembly toward the closest white hexagonal nut placed on the dark table surface, with fingers held extended."}, {"label": "goal", "start_step": 1715, "end_step": 1806, "id": "e22fee20-ea81-4e80-acbb-8db1f97ff701"}, {"label": "subtasks", "start_step": 1740, "end_step": 1821, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any visible movement of the hand or fingers. | Right hand: grasp: Right hand adjusts finger positions around the target white hexagonal nut, gradually closing the thumb and fingers to establish contact and form a grasp on the nut."}, {"label": "goal", "start_step": 1807, "end_step": 1966, "id": "db5fc013-7b1b-4a57-99a6-11ff71156123"}, {"label": "subtasks", "start_step": 1822, "end_step": 1844, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any visible movement of the hand or fingers. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface and moves it upward to a position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1845, "end_step": 1941, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any visible movement of the hand or fingers. | Right hand: mate: Right hand makes small positional adjustments to align the central hole of the white hexagonal block with the purple rod, positioning the block for assembly."}, {"label": "subtasks", "start_step": 1942, "end_step": 1964, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any visible movement of the hand or fingers. | Right hand: place: Right hand lowers the aligned white hexagonal block down along the purple rod until it rests stably on top of the lower stacked white block on the wooden base."}, {"label": "subtasks", "start_step": 1965, "end_step": 2001, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any visible movement of the hand or fingers. | Right hand: reach: Right hand moves downward toward the white hexagonal nut on the black table surface, staying empty and out of contact with the nut during the approach."}, {"label": "goal", "start_step": 1967, "end_step": 2042, "id": "d77bff55-a0fb-49ec-8995-109d3c747d1a"}, {"label": "subtasks", "start_step": 2002, "end_step": 2039, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any visible movement of the hand or fingers. | Right hand: grasp: Right hand makes contact with the white hexagonal nut on the table, closing fingers around the nut and making small adjustments to establish a grip."}, {"label": "subtasks", "start_step": 2040, "end_step": 2061, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any visible movement of the hand or fingers. | Right hand: hold: Right hand holds the white hexagonal block above the right area of the table without moving."}, {"label": "goal", "start_step": 2043, "end_step": 2168, "id": "d4f4615c-2179-4cfd-b3a2-15d912f3b026"}, {"label": "subtasks", "start_step": 2062, "end_step": 2099, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any visible movement of the hand or fingers. | Right hand: transport: Right hand holds the white hexagonal block and moves it upwards and leftwards toward the purple rod on the wooden block stand."}, {"label": "subtasks", "start_step": 2100, "end_step": 2159, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any visible movement of the hand or fingers. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and moves it downwards to fit the block onto the rod."}, {"label": "subtasks", "start_step": 2160, "end_step": 2181, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any visible movement of the hand or fingers. | Right hand: release: Right hand opens fingers to release the light purple-topped white cylindrical bottle on the wooden storage rack, detaching from the bottle."}, {"label": "goal", "start_step": 2169, "end_step": 2242, "id": "9c2121d1-d21f-4cb3-b8d0-4ae57f5079d3"}, {"label": "subtasks", "start_step": 2182, "end_step": 2211, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any visible movement of the hand or fingers. | Right hand: reach: Right hand moves diagonally down-right toward the green hollow square block on the dark table surface, remaining empty during movement."}, {"label": "subtasks", "start_step": 2212, "end_step": 2234, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any visible movement of the hand or fingers. | Right hand: grasp: Right hand closes thumb and fingers around the green hollow square block on the dark table surface, making small adjustments to establish grip."}, {"label": "subtasks", "start_step": 2235, "end_step": 2257, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any visible movement of the hand or fingers. | Right hand: lift: Right hand holds the green hexagonal block and lifts it upward off the dark table surface."}, {"label": "goal", "start_step": 2243, "end_step": 2364, "id": "2b3e725f-cc49-450c-b131-f19b8affb4d5"}, {"label": "subtasks", "start_step": 2258, "end_step": 2287, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any visible movement of the hand or fingers. | Right hand: transport: Right hand carries the green hexagonal block upward and leftward toward the white hexagonal block rack."}, {"label": "subtasks", "start_step": 2288, "end_step": 2331, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any visible movement of the hand or fingers. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple post on the rack, making small positional adjustments to fit over the post."}, {"label": "subtasks", "start_step": 2332, "end_step": 2354, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any visible movement of the hand or fingers. | Right hand: place: Right hand lowers the green hexagonal block down along the purple post until the block rests stably on the supporting white block below."}, {"label": "subtasks", "start_step": 2355, "end_step": 2369, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any visible movement of the hand or fingers. | Right hand: release: Right hand opens its fingers to release the stably placed green hexagonal block on the rack."}, {"label": "home", "start_step": 2407, "end_step": 2438, "id": "f3QFn5fLj-0uCRz_JUQUT"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 81, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any visible movement of the hand or fingers. | Right hand: reach: Right hand moves downward and leftward from its initial upper right position toward the green hexagonal block on the table in front of the left side of the wooden peg base, with fingers kept open during the movement."}, {"label": "subtasks", "start_step": 82, "end_step": 179, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any visible movement of the hand or fingers. | Right hand: grasp: Right hand makes contact with the target green hexagonal block on the table, closing fingers around the block and adjusting contact points to establish a grip, with the block remaining on the table surface."}, {"label": "subtasks", "start_step": 180, "end_step": 209, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any visible movement of the hand or fingers. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block off the table surface and transports it upward to the position directly above the purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 210, "end_step": 314, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any visible movement of the hand or fingers. | Right hand: mate: Right hand aligns the inner hole of the green hexagonal block with the purple peg and lowers the block to fit onto the peg until it sits stably on the wooden base."}, {"label": "subtasks", "start_step": 315, "end_step": 351, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any visible movement of the hand or fingers. | Right hand: reach: Right hand moves downward from the area near the block rack toward the white hexagonal nut placed on the table, without contacting the target nut."}, {"label": "subtasks", "start_step": 352, "end_step": 404, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any visible movement of the hand or fingers. | Right hand: grasp: Right hand adjusts finger positions and closes fingers around the white hexagonal nut on the table to form a grip."}, {"label": "subtasks", "start_step": 405, "end_step": 434, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any visible movement of the hand or fingers. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the black table surface and moves it to the position directly above the purple peg on the wooden base, with fingers closed around the block."}, {"label": "subtasks", "start_step": 435, "end_step": 479, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any visible movement of the hand or fingers. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple peg and moves the block downward to nest it onto the peg until it rests on the green base."}, {"label": "subtasks", "start_step": 480, "end_step": 524, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any visible movement of the hand or fingers. | Right hand: hold: Right hand holds the white hexagonal block nested on the purple peg without noticeable movement of the hand or the block."}, {"label": "subtasks", "start_step": 525, "end_step": 547, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any visible movement of the hand or fingers. | Right hand: release: Right hand opens fingers to release the previously placed white hexagonal block on the wooden assembly base, separating from the block."}, {"label": "subtasks", "start_step": 548, "end_step": 577, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any visible movement of the hand or fingers. | Right hand: reach: Right hand moves downward with open fingers toward the white hexagonal nut resting on the black table surface in front of the assembly base."}, {"label": "subtasks", "start_step": 578, "end_step": 614, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any visible movement of the hand or fingers. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, making small adjustments to form a stable grasp."}, {"label": "subtasks", "start_step": 615, "end_step": 644, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any visible movement of the hand or fingers. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward to position it above the target purple peg on the wooden base."}, {"label": "subtasks", "start_step": 645, "end_step": 734, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any visible movement of the hand or fingers. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the target purple peg, making small wrist adjustments to slide the nut down the peg and complete the fitting."}, {"label": "subtasks", "start_step": 735, "end_step": 764, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any visible movement of the hand or fingers. | Right hand: hold: Right hand holds the fitted white hexagonal nut on the purple peg without any visible movement of the hand or the nut."}, {"label": "subtasks", "start_step": 765, "end_step": 794, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any visible movement of the hand or fingers. | Right hand: mate_release: Right hand aligns and seats the white hexagonal block onto the purple peg on the wooden rack, opening fingers to release the block."}, {"label": "subtasks", "start_step": 795, "end_step": 824, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any visible movement of the hand or fingers. | Right hand: reach: Right hand moves downward empty toward the white hexagonal block placed on the table adjacent to the wooden rack."}, {"label": "subtasks", "start_step": 825, "end_step": 861, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any visible movement of the hand or fingers. | Right hand: grasp: Right hand closes fingers around the target white hexagonal block on the table, making small adjustments to establish a stable grip."}, {"label": "subtasks", "start_step": 862, "end_step": 891, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any visible movement of the hand or fingers. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface and moves it to position directly above the purple vertical peg on the wooden base."}, {"label": "subtasks", "start_step": 892, "end_step": 1079, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any visible movement of the hand or fingers. | Right hand: mate: Right hand aligns the white hexagonal block with the purple vertical peg and moves the block downward to nest it securely onto the peg."}, {"label": "subtasks", "start_step": 1080, "end_step": 1101, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any visible movement of the hand or fingers. | Right hand: release: Right hand opens its fingers to release the light purple cylindrical peg on the wooden assembly base, separating fully from the peg by the end of the segment."}, {"label": "subtasks", "start_step": 1102, "end_step": 1147, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any visible movement of the hand or fingers. | Right hand: reach: Right hand moves downward empty toward the green hexagonal nut placed on the black table surface in front of the assembly base."}, {"label": "subtasks", "start_step": 1148, "end_step": 1154, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any visible movement of the hand or fingers. | Right hand: grasp: Right hand contacts the target green hexagonal nut, adjusting finger positions and closing around the nut to form a stable grasp."}, {"label": "subtasks", "start_step": 1155, "end_step": 1177, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any visible movement of the hand or fingers. | Right hand: lift: Right hand lifts the grasped green hexagonal block upward from the black table surface."}, {"label": "subtasks", "start_step": 1178, "end_step": 1199, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any visible movement of the hand or fingers. | Right hand: transport: Right hand carries the green hexagonal block toward the wooden assembly stand, positioning the block directly above the purple vertical post."}, {"label": "subtasks", "start_step": 1200, "end_step": 1469, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any visible movement of the hand or fingers. | Right hand: mate: Right hand adjusts the position and orientation of the green hexagonal block to align its central hole with the purple post, then lowers the block to fit onto the post until it rests on the white block below."}, {"label": "subtasks", "start_step": 1470, "end_step": 1499, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any visible movement of the hand or fingers. | Right hand: idle: Right hand remains empty above the stacked block set without any obvious movement."}, {"label": "subtasks", "start_step": 1500, "end_step": 1537, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any visible movement of the hand or fingers. | Right hand: reach: Right hand moves downward with open fingers from the stacked block area toward the white hexagonal block placed on the front table surface."}, {"label": "subtasks", "start_step": 1538, "end_step": 1574, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any visible movement of the hand or fingers. | Right hand: grasp: Right hand closes fingers around the front white hexagonal block to establish a grip."}, {"label": "subtasks", "start_step": 1575, "end_step": 1604, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any visible movement of the hand or fingers. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward to the position directly above the purple rod on the wooden block assembly base."}, {"label": "subtasks", "start_step": 1605, "end_step": 1709, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any visible movement of the hand or fingers. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple rod on the block assembly base, makes slight positional adjustments, and lowers the nut to fit onto the rod."}, {"label": "subtasks", "start_step": 1710, "end_step": 1739, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any visible movement of the hand or fingers. | Right hand: reach: Right hand moves downward and rightward from above the stacked block assembly toward the closest white hexagonal nut placed on the dark table surface, with fingers held extended."}, {"label": "subtasks", "start_step": 1740, "end_step": 1821, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any visible movement of the hand or fingers. | Right hand: grasp: Right hand adjusts finger positions around the target white hexagonal nut, gradually closing the thumb and fingers to establish contact and form a grasp on the nut."}, {"label": "subtasks", "start_step": 1822, "end_step": 1844, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any visible movement of the hand or fingers. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface and moves it upward to a position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1845, "end_step": 1941, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any visible movement of the hand or fingers. | Right hand: mate: Right hand makes small positional adjustments to align the central hole of the white hexagonal block with the purple rod, positioning the block for assembly."}, {"label": "subtasks", "start_step": 1942, "end_step": 1964, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any visible movement of the hand or fingers. | Right hand: place: Right hand lowers the aligned white hexagonal block down along the purple rod until it rests stably on top of the lower stacked white block on the wooden base."}, {"label": "subtasks", "start_step": 1965, "end_step": 2001, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any visible movement of the hand or fingers. | Right hand: reach: Right hand moves downward toward the white hexagonal nut on the black table surface, staying empty and out of contact with the nut during the approach."}, {"label": "subtasks", "start_step": 2002, "end_step": 2039, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any visible movement of the hand or fingers. | Right hand: grasp: Right hand makes contact with the white hexagonal nut on the table, closing fingers around the nut and making small adjustments to establish a grip."}, {"label": "subtasks", "start_step": 2040, "end_step": 2061, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any visible movement of the hand or fingers. | Right hand: hold: Right hand holds the white hexagonal block above the right area of the table without moving."}, {"label": "subtasks", "start_step": 2062, "end_step": 2099, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any visible movement of the hand or fingers. | Right hand: transport: Right hand holds the white hexagonal block and moves it upwards and leftwards toward the purple rod on the wooden block stand."}, {"label": "subtasks", "start_step": 2100, "end_step": 2159, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any visible movement of the hand or fingers. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and moves it downwards to fit the block onto the rod."}, {"label": "subtasks", "start_step": 2160, "end_step": 2181, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any visible movement of the hand or fingers. | Right hand: release: Right hand opens fingers to release the light purple-topped white cylindrical bottle on the wooden storage rack, detaching from the bottle."}, {"label": "subtasks", "start_step": 2182, "end_step": 2211, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any visible movement of the hand or fingers. | Right hand: reach: Right hand moves diagonally down-right toward the green hollow square block on the dark table surface, remaining empty during movement."}, {"label": "subtasks", "start_step": 2212, "end_step": 2234, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any visible movement of the hand or fingers. | Right hand: grasp: Right hand closes thumb and fingers around the green hollow square block on the dark table surface, making small adjustments to establish grip."}, {"label": "subtasks", "start_step": 2235, "end_step": 2257, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any visible movement of the hand or fingers. | Right hand: lift: Right hand holds the green hexagonal block and lifts it upward off the dark table surface."}, {"label": "subtasks", "start_step": 2258, "end_step": 2287, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any visible movement of the hand or fingers. | Right hand: transport: Right hand carries the green hexagonal block upward and leftward toward the white hexagonal block rack."}, {"label": "subtasks", "start_step": 2288, "end_step": 2331, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any visible movement of the hand or fingers. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple post on the rack, making small positional adjustments to fit over the post."}, {"label": "subtasks", "start_step": 2332, "end_step": 2354, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any visible movement of the hand or fingers. | Right hand: place: Right hand lowers the green hexagonal block down along the purple post until the block rests stably on the supporting white block below."}, {"label": "subtasks", "start_step": 2355, "end_step": 2369, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any visible movement of the hand or fingers. | Right hand: release: Right hand opens its fingers to release the stably placed green hexagonal block on the rack."}], "episode_index": 29}
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_16_32_28_train/lerobot_v2.1/meta/episodes.jsonl b/play_tic_tac_toe/season_POC22048_2026_06_27_16_32_28_train/lerobot_v2.1/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..0b0e02cefbf28a99b3150401db1576258d260bcd
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_16_32_28_train/lerobot_v2.1/meta/episodes.jsonl
@@ -0,0 +1,30 @@
+{"episode_index": 0, "tasks": ["Task: TicTacToe"], "length": 3399}
+{"episode_index": 1, "tasks": ["Task: TicTacToe"], "length": 2339}
+{"episode_index": 2, "tasks": ["Task: TicTacToe"], "length": 2138}
+{"episode_index": 3, "tasks": ["Task: TicTacToe"], "length": 2927}
+{"episode_index": 4, "tasks": ["Task: TicTacToe"], "length": 2686}
+{"episode_index": 5, "tasks": ["Task: TicTacToe"], "length": 2226}
+{"episode_index": 6, "tasks": ["Task: TicTacToe"], "length": 2267}
+{"episode_index": 7, "tasks": ["Task: TicTacToe"], "length": 2187}
+{"episode_index": 8, "tasks": ["Task: TicTacToe"], "length": 2050}
+{"episode_index": 9, "tasks": ["Task: TicTacToe"], "length": 2670}
+{"episode_index": 10, "tasks": ["Task: TicTacToe"], "length": 3423}
+{"episode_index": 11, "tasks": ["Task: TicTacToe"], "length": 2562}
+{"episode_index": 12, "tasks": ["Task: TicTacToe"], "length": 3522}
+{"episode_index": 13, "tasks": ["Task: TicTacToe"], "length": 3275}
+{"episode_index": 14, "tasks": ["Task: TicTacToe"], "length": 2561}
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+{"episode_index": 17, "tasks": ["Task: TicTacToe"], "length": 2599}
+{"episode_index": 18, "tasks": ["Task: TicTacToe"], "length": 2349}
+{"episode_index": 19, "tasks": ["Task: TicTacToe"], "length": 2790}
+{"episode_index": 20, "tasks": ["Task: TicTacToe"], "length": 2369}
+{"episode_index": 21, "tasks": ["Task: TicTacToe"], "length": 2566}
+{"episode_index": 22, "tasks": ["Task: TicTacToe"], "length": 3494}
+{"episode_index": 23, "tasks": ["Task: TicTacToe"], "length": 3673}
+{"episode_index": 24, "tasks": ["Task: TicTacToe"], "length": 4568}
+{"episode_index": 25, "tasks": ["Task: TicTacToe"], "length": 3042}
+{"episode_index": 26, "tasks": ["Task: TicTacToe"], "length": 3135}
+{"episode_index": 27, "tasks": ["Task: TicTacToe"], "length": 2167}
+{"episode_index": 28, "tasks": ["Task: TicTacToe"], "length": 2375}
+{"episode_index": 29, "tasks": ["Task: TicTacToe"], "length": 2439}
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_16_32_28_train/lerobot_v2.1/meta/episodes_stats.jsonl b/play_tic_tac_toe/season_POC22048_2026_06_27_16_32_28_train/lerobot_v2.1/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..78c1dda7aa667f32fa684daf11bfeecdd3708b77
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_16_32_28_train/lerobot_v2.1/meta/episodes_stats.jsonl
@@ -0,0 +1,30 @@
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[[[0.306393027305603]], [[0.30894097685813904]], [[0.3063303828239441]]], "std": [[[0.18298454582691193]], [[0.18302318453788757]], [[0.1827390044927597]]], "count": [2439]}, "observation.images.wrist_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3101535141468048]], [[0.3120068907737732]], [[0.3097570836544037]]], "std": [[[0.18517574667930603]], [[0.18338656425476074]], [[0.18307821452617645]]], "count": [2439]}, "observation.images.head_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5673170685768127]], [[0.5676262378692627]], [[0.5678005814552307]]], "std": [[[0.3037513792514801]], [[0.3032121956348419]], [[0.3039703965187073]]], "count": [2439]}, "observation.images.tactile_deform": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.7411764860153198]], [[0.7411764860153198]], [[0.7411764860153198]]], "mean": [[[0.004791031591594219]], [[0.004791031591594219]], [[0.004791031591594219]]], "std": [[[0.044421300292015076]], [[0.044421300292015076]], [[0.044421300292015076]]], "count": [2439]}, "observation.images.tactile_raw": {"min": [[[0.07058823853731155]], [[0.07058823853731155]], [[0.07058823853731155]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4909978210926056]], [[0.4909978210926056]], [[0.4909978210926056]]], "std": [[[0.22149814665317535]], [[0.22149814665317535]], [[0.22149814665317535]]], "count": [2439]}}}
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_16_32_28_train/lerobot_v2.1/meta/info.json b/play_tic_tac_toe/season_POC22048_2026_06_27_16_32_28_train/lerobot_v2.1/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..4cc2f143f11ff773563cf8e4d8c33df4fd76535a
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_16_32_28_train/lerobot_v2.1/meta/info.json
@@ -0,0 +1,537 @@
+{
+    "codebase_version": "v2.1",
+    "robot_type": "robot",
+    "total_episodes": 30,
+    "total_frames": 84118,
+    "total_tasks": 1,
+    "total_videos": 180,
+    "total_chunks": 1,
+    "chunks_size": 1000,
+    "fps": 30,
+    "splits": {
+        "train": "0:30"
+    },
+    "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/play_tic_tac_toe/season_POC22048_2026_06_27_16_32_28_train/lerobot_v2.1/meta/modality.json b/play_tic_tac_toe/season_POC22048_2026_06_27_16_32_28_train/lerobot_v2.1/meta/modality.json
new file mode 100644
index 0000000000000000000000000000000000000000..a05578e69b2f67b344bf8b72976a7471c3174013
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_16_32_28_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/play_tic_tac_toe/season_POC22048_2026_06_27_16_32_28_train/lerobot_v2.1/meta/subtasks.jsonl b/play_tic_tac_toe/season_POC22048_2026_06_27_16_32_28_train/lerobot_v2.1/meta/subtasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..2e3095c6a06f5e436cb98187b9da0abd7dd5a5a6
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_16_32_28_train/lerobot_v2.1/meta/subtasks.jsonl
@@ -0,0 +1,1685 @@
+{"subtask_index": 0, "subtask": "Left hand: other:adjust_posture: Left hand adjusts its posture with fingers gradually extending and slight wrist rotation at the left side of the table. | Right hand: reach: Right hand moves from the right side of the table toward the green hexagonal block on the black table surface left of the wooden peg base."}
+{"subtask_index": 1, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves from the right side of the table toward the green hexagonal block on the black table surface left of the wooden peg base."}
+{"subtask_index": 2, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers closing and adjusting to form a stable grip."}
+{"subtask_index": 3, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the black table surface without moving."}
+{"subtask_index": 4, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, adjusting its fingers to form a stable grip."}
+{"subtask_index": 5, "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 green hexagonal block from the table and moves it to the top of the vertical peg on the wooden rack."}
+{"subtask_index": 6, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the vertical peg of the wooden rack, lowering the block to fit the peg through its central hole."}
+{"subtask_index": 7, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the peg of the wooden rack without moving."}
+{"subtask_index": 8, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white sleeve onto the green sleeve on the leftmost peg of the wooden board."}
+{"subtask_index": 9, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white sleeve on the peg with fingers opening."}
+{"subtask_index": 10, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal sleeve on the black table surface."}
+{"subtask_index": 11, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal sleeve on the table with fingers closing to form a stable grip."}
+{"subtask_index": 12, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reorient: Right hand rotates the white hexagonal sleeve to adjust its orientation, with the sleeve's position remaining roughly unchanged."}
+{"subtask_index": 13, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal nut on the black table, with fingers adjusting to form a stable grip."}
+{"subtask_index": 14, "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 white hexagonal nut off the table and transports it to the position above the leftmost test tube on the wooden rack."}
+{"subtask_index": 15, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal nut with the top of the leftmost test tube on the wooden rack, adjusting the position to fit the nut onto the test tube."}
+{"subtask_index": 16, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical piece on the front-left peg of the wooden pegboard, with fingers opening."}
+{"subtask_index": 17, "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 pegboard toward the white hexagonal piece on the black table."}
+{"subtask_index": 18, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal piece on the black table, with fingers closing around the piece."}
+{"subtask_index": 19, "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 white hexagonal block from the table and transports it towards the test tube rack."}
+{"subtask_index": 20, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the leftmost purple rod on the test tube rack and inserts it downwards."}
+{"subtask_index": 21, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple rod without moving."}
+{"subtask_index": 22, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand fits the white cylindrical part onto the purple vertical peg on the wooden base and releases its grip."}
+{"subtask_index": 23, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach_grasp: Right hand reaches toward the white hexagonal part on the black table and makes initial contact with the part to start grasping."}
+{"subtask_index": 24, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, fingers closing to form a stable grip."}
+{"subtask_index": 25, "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 white hexagonal block off the table surface and transports it upward to the position above the purple rod on the wooden rack."}
+{"subtask_index": 26, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod by aligning and lowering it into the fitted position."}
+{"subtask_index": 27, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white ring onto the purple peg on the wooden base and releases the ring."}
+{"subtask_index": 28, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the green hexagonal block on the black table surface."}
+{"subtask_index": 29, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table with fingers closing to adjust the grip."}
+{"subtask_index": 30, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the table without moving."}
+{"subtask_index": 31, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block placed on the black table."}
+{"subtask_index": 32, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts and transports the green hexagonal block from the black table toward the purple vertical peg on the wooden base."}
+{"subtask_index": 33, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the purple vertical peg of the wooden base."}
+{"subtask_index": 34, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the purple peg without moving."}
+{"subtask_index": 35, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white cylindrical block onto the green block on the middle peg of the pegboard and releases it."}
+{"subtask_index": 36, "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 white hexagonal block on the table."}
+{"subtask_index": 37, "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 grasp the white hexagonal block on the table."}
+{"subtask_index": 38, "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 white hexagonal part off the green base and transports it toward the wooden peg rack at the center of the table."}
+{"subtask_index": 39, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal part with the white peg on the wooden rack and inserts it onto the peg to complete assembly."}
+{"subtask_index": 40, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal part on the white peg of the wooden rack without moving."}
+{"subtask_index": 41, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand fits the white hexagonal sleeve onto the purple peg of the wooden base and releases the grip."}
+{"subtask_index": 42, "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 white hexagonal piece on the black table surface."}
+{"subtask_index": 43, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal piece on the black table surface with fingers closing around it."}
+{"subtask_index": 44, "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 white hexagonal block off the table and transports it toward the purple rod on the wooden base."}
+{"subtask_index": 45, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and fits it onto the rod."}
+{"subtask_index": 46, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white cap down onto the purple peg on the wooden board."}
+{"subtask_index": 47, "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 rightward toward the white hexagonal block on the black table surface."}
+{"subtask_index": 48, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface with fingers adjusting to form a stable grip."}
+{"subtask_index": 49, "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 white hexagonal block off the table and transports it to the upper right of the purple peg on the wooden rack."}
+{"subtask_index": 50, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg and inserts it onto the peg to form an assembly relationship."}
+{"subtask_index": 51, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white hexagonal block down along the purple peg to press it firmly in place."}
+{"subtask_index": 52, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the purple peg without moving."}
+{"subtask_index": 53, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white cylinder with a purple top into the wooden tray on the black table."}
+{"subtask_index": 54, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the green cubic block on the right side of the black table."}
+{"subtask_index": 55, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cubic block on the right side of the black table."}
+{"subtask_index": 56, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green cubic block on the right side of the black table without moving."}
+{"subtask_index": 57, "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 green square block from the table and transports it towards the test tube rack."}
+{"subtask_index": 58, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green square block with the rightmost test tube to attempt fitting it onto the tube."}
+{"subtask_index": 59, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green square block, which falls onto the right side of the table."}
+{"subtask_index": 60, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats from the test tube rack towards the right side of the table."}
+{"subtask_index": 61, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach_grasp: Right hand reaches for the green square block on the right table and grasps it."}
+{"subtask_index": 62, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green square block to the middle-right area of the table."}
+{"subtask_index": 63, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_reorient: Right hand places the green square block on the table and rotates it to adjust its orientation."}
+{"subtask_index": 64, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green square block with the rightmost test tube and fits it onto the tube."}
+{"subtask_index": 65, "subtask": "Task: TicTacToe"}
+{"subtask_index": 66, "subtask": "Left hand: other:adjust_finger: Left hand slightly bends its fingers to adjust posture at the left side of the table. | Right hand: reach: Right hand moves from the right side of the table towards the green block located at the lower left of the wooden base."}
+{"subtask_index": 67, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves from the right side of the table towards the green block located at the lower left of the wooden base."}
+{"subtask_index": 68, "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 grasp the green block on the black table."}
+{"subtask_index": 69, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green block without moving after establishing stable grasp."}
+{"subtask_index": 70, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green cubic block from the black table surface."}
+{"subtask_index": 71, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green cubic block to the position above the leftmost purple rod on the wooden base."}
+{"subtask_index": 72, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green cubic block onto the leftmost purple rod of the wooden base."}
+{"subtask_index": 73, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white ring onto the purple peg on the wooden base and releases the ring."}
+{"subtask_index": 74, "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 white hexagonal block on the black table surface."}
+{"subtask_index": 75, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing around the block."}
+{"subtask_index": 76, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block without moving."}
+{"subtask_index": 77, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block placed on the black table."}
+{"subtask_index": 78, "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 white hexagonal block from the table and transports it to above the leftmost purple rod of the rack."}
+{"subtask_index": 79, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the leftmost purple rod and inserts it onto the rod."}
+{"subtask_index": 80, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white hexagonal block downwards along the purple rod to secure it in place."}
+{"subtask_index": 81, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white block onto the purple peg of the wooden base to secure it."}
+{"subtask_index": 82, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downwards towards the white hexagonal block on the table surface."}
+{"subtask_index": 83, "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 around the white hexagonal block on the table to establish a stable grip."}
+{"subtask_index": 84, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black tabletop."}
+{"subtask_index": 85, "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 white hexagonal block from the tabletop and transports it above the leftmost purple peg of the wooden rack."}
+{"subtask_index": 86, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the leftmost purple peg of the wooden rack by aligning and lowering it."}
+{"subtask_index": 87, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the leftmost purple peg without moving."}
+{"subtask_index": 88, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical block on the purple rod of the wooden base and moves away."}
+{"subtask_index": 89, "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 grasp the white hexagonal block on the black table surface."}
+{"subtask_index": 90, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block upward off the black table surface."}
+{"subtask_index": 91, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand carries the white hexagonal block upward toward the wooden base with purple rods."}
+{"subtask_index": 92, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand lowers the white hexagonal block onto the empty purple rod of the wooden base."}
+{"subtask_index": 93, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white hexagonal block downward to secure it onto the purple rod."}
+{"subtask_index": 94, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylindrical block onto the purple rod on the wooden base."}
+{"subtask_index": 95, "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 green hollow block on the black table."}
+{"subtask_index": 96, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp_release: Right hand grasps the green hollow block on the table and then releases it."}
+{"subtask_index": 97, "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 green hollow block without moving."}
+{"subtask_index": 98, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to form a stable grip on the green block placed on the black table."}
+{"subtask_index": 99, "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 green block off the table and transports it towards the target peg on the wooden base."}
+{"subtask_index": 100, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the target peg and inserts it down onto the peg."}
+{"subtask_index": 101, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand opens fingers to release the green block that is fitted on the peg."}
+{"subtask_index": 102, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white hexagonal block onto the purple peg of the wooden base and releases the grip on the block."}
+{"subtask_index": 103, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand moves downward away from the assembly area toward the white hexagonal blocks on the table."}
+{"subtask_index": 104, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: idle: Right hand remains empty above the table surface without moving."}
+{"subtask_index": 105, "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 white hexagonal part on the black table stably."}
+{"subtask_index": 106, "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 white hexagonal part and transports it towards the purple rod on the wooden bracket."}
+{"subtask_index": 107, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal part onto the purple rod of the wooden bracket, adjusting position to fit."}
+{"subtask_index": 108, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white ring onto the purple rod on the wooden base and releases the ring."}
+{"subtask_index": 109, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the upper white hexagonal block on the black table."}
+{"subtask_index": 110, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the upper white hexagonal block on the black table."}
+{"subtask_index": 111, "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 white hexagonal block from the table and transports it towards the purple rod on the wooden base."}
+{"subtask_index": 112, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod on the wooden base."}
+{"subtask_index": 113, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white cylinder onto the purple rod on the wooden base."}
+{"subtask_index": 114, "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 white hexagonal block on the table surface."}
+{"subtask_index": 115, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table surface, fingers close around the block."}
+{"subtask_index": 116, "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 white hollow block from the tabletop and transports it above the purple peg on the wooden rack."}
+{"subtask_index": 117, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hollow block onto the purple peg of the wooden rack."}
+{"subtask_index": 118, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hollow block on the purple peg without moving."}
+{"subtask_index": 119, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the purple rod on the white cylinder at the front right of the wooden base."}
+{"subtask_index": 120, "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 square block on the black table surface."}
+{"subtask_index": 121, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green square block on the black table surface."}
+{"subtask_index": 122, "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 green block off the table and transports it towards the white bottle on the right side of the wooden rack."}
+{"subtask_index": 123, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the white bottle and inserts it onto the bottle to complete assembly."}
+{"subtask_index": 124, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: idle: Right hand remains empty at the right side of the workspace without obvious positional movement."}
+{"subtask_index": 125, "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 green hexagonal nut placed in front-left of the wooden block with an empty hand, fingers kept slightly extended."}
+{"subtask_index": 126, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: grasp: Right hand contacts the green hexagonal nut on the table surface, fingers gradually close and adjust contact points to establish a grasp, the nut remains supported by 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: lift_transport: Right hand lifts the grasped green hexagonal block off the table and moves it upward to position it directly above the purple peg on the wooden base."}
+{"subtask_index": 128, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: mate: Right hand slightly adjusts the position of the green hexagonal block to align its central hole with the purple peg below."}
+{"subtask_index": 129, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: place: Right hand lowers the aligned green hexagonal block down along the purple peg until it rests stably on the supporting block beneath."}
+{"subtask_index": 130, "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 placed green hexagonal block on the purple peg without any observable movement or grip adjustment."}
+{"subtask_index": 131, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: place_release: Right hand places the white hexagonal block onto the purple peg of the wooden pegboard, releases the block to rest stably on the peg."}
+{"subtask_index": 132, "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 downward empty toward the green hexagonal block on the black table surface."}
+{"subtask_index": 133, "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 to contact and grasp the green hexagonal block on the table surface."}
+{"subtask_index": 134, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the black table surface and moves it to position directly above the leftmost purple peg on the wooden assembly block."}
+{"subtask_index": 135, "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 and orientation of the white hexagonal nut to align its central hole with the leftmost purple peg."}
+{"subtask_index": 136, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: place: Right hand lowers the white hexagonal nut down along the purple peg until it rests stably on the green base of the wooden assembly block."}
+{"subtask_index": 137, "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 downward and forward from the pegboard area toward the white hexagonal nut placed on the table, with fingers kept open."}
+{"subtask_index": 138, "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 and adjusts wrist posture to grasp the white hexagonal nut on the table, with the nut remaining on the table surface."}
+{"subtask_index": 139, "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 white hexagonal nut above the scattered parts on the table in a stationary position."}
+{"subtask_index": 140, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal nut upward and transports it to the position directly above the empty purple rod on the wooden assembly block."}
+{"subtask_index": 141, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the target purple rod and lowers the nut to fit it onto the rod."}
+{"subtask_index": 142, "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 white hexagonal nut fitted on the purple rod without any visible movement or grip adjustment."}
+{"subtask_index": 143, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: place_release: Right hand holds the white cylindrical block, moves it downward onto the matching peg on the wooden pegboard, releasing fingers to leave the block stably supported by the peg."}
+{"subtask_index": 144, "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 downward empty toward the white hexagonal block placed on the dark table surface in front of the pegboard, approaching the block without establishing contact."}
+{"subtask_index": 145, "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 white hexagonal block on the table, adjusting contact points to establish a stable grasp on the block."}
+{"subtask_index": 146, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and transports it upward to position directly above the purple rod on the wooden base."}
+{"subtask_index": 147, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple rod, lowers the nut onto the rod and makes slight adjustments to fit it properly onto the rod."}
+{"subtask_index": 148, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: release: Right hand opens fingers to release the white hexagonal nut that is fitted on the purple rod."}
+{"subtask_index": 149, "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 downward from above the block rack toward the green hexagonal block on the table surface."}
+{"subtask_index": 150, "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 green hexagonal block on the table, adjusting finger positions to form a stable grasp."}
+{"subtask_index": 151, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table surface and moves it upward to the position above the purple peg on the block rack."}
+{"subtask_index": 152, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: mate: Right hand aligns the green hexagonal block with the purple peg on the rack and moves it downward to fit the block onto the peg."}
+{"subtask_index": 153, "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 downward toward the white hexagonal nut placed on the black table surface, with fingers slightly open."}
+{"subtask_index": 154, "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 white hexagonal nut on the table to establish a stable grasp, with the nut remaining on the table surface."}
+{"subtask_index": 155, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward to the position above the purple rod on the wooden block base."}
+{"subtask_index": 156, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: mate: Right hand aligns the hole of the white hexagonal nut with the purple rod, lowers the nut to fit onto the rod with small position adjustments."}
+{"subtask_index": 157, "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 from the area above the wooden block assembly stand toward the nearer white hexagonal nut on the table, with fingers held slightly open."}
+{"subtask_index": 158, "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 nearer white hexagonal nut on the table to establish a grip, with the nut remaining on the table surface."}
+{"subtask_index": 159, "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 white hexagonal block and moves upward and leftward to the position directly above the empty vertical rod on the wooden base."}
+{"subtask_index": 160, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the target vertical rod and inserts the block onto the rod."}
+{"subtask_index": 161, "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 white hexagonal block on the vertical rod without any observable movement of the hand or block."}
+{"subtask_index": 162, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: place_release: Right hand moves the white hexagonal block downward along the rod until it rests on the supporting surface below, opening fingers to release the block."}
+{"subtask_index": 163, "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 downward empty toward the white hexagonal nut placed on the dark gray table surface."}
+{"subtask_index": 164, "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 its fingers around the white hexagonal nut to form a stable grip on the object."}
+{"subtask_index": 165, "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 grasped white hexagonal nut on the table surface without any observable movement of the hand or the nut."}
+{"subtask_index": 166, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface, moves it upward and leftward to the position directly above the purple rod mounted on the wooden block stand."}
+{"subtask_index": 167, "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 posture of the white hexagonal block to align its central hole with the purple rod, lowers the block to fit it onto the rod until the block is stably supported on the rod."}
+{"subtask_index": 168, "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 in a downward-right direction toward the green square block on the table surface."}
+{"subtask_index": 169, "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 green square block, adjusting finger contact positions to establish a grip."}
+{"subtask_index": 170, "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 green hollow block stationary on the black table surface."}
+{"subtask_index": 171, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: lift_transport: Right hand lifts the green hollow block off the table surface and transports it upward and leftward to the position directly above the purple post on the wooden block rack."}
+{"subtask_index": 172, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: mate_release: Right hand aligns the green hollow block with the purple post on the wooden rack, lowers the block to nest it onto the post, and opens its fingers to release the secured block."}
+{"subtask_index": 173, "subtask": "Left hand: other:adjust_finger_posture: Left hand adjusts its finger posture with fingers closing slightly at the left side of the table. | Right hand: reach: Right hand moves leftward and downward toward the green hexagonal block on the table below the wooden rack."}
+{"subtask_index": 174, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: reach: Right hand moves leftward and downward toward the green hexagonal block on the table below the wooden rack."}
+{"subtask_index": 175, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: grasp: Right hand closes its fingers to grasp the green hexagonal block on the table."}
+{"subtask_index": 176, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: hold: Right hand holds the green hexagonal block on the table without moving."}
+{"subtask_index": 177, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table surface, with fingers adjusting to form a stable grip."}
+{"subtask_index": 178, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: lift: Right hand lifts the green hexagonal block upward until it fully leaves the black table surface."}
+{"subtask_index": 179, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: transport: Right hand transports the green hexagonal block upward and rightward to the position above the leftmost peg of the peg board."}
+{"subtask_index": 180, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: mate: Right hand aligns the green hexagonal block with the leftmost peg and inserts it downward onto the peg."}
+{"subtask_index": 181, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: hold: Right hand holds the green hexagonal block fitted on the leftmost peg of the peg board without moving."}
+{"subtask_index": 182, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: mate_release: Right hand fits the white ring-shaped part onto the leftmost purple peg of the wooden base and releases its grip."}
+{"subtask_index": 183, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: reach: Right hand moves downward from the wooden base area toward the white hexagonal block on the black table."}
+{"subtask_index": 184, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the black table."}
+{"subtask_index": 185, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: lift: Right hand lifts the white hexagonal nut upward away from the black table surface."}
+{"subtask_index": 186, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: transport: Right hand transports the white hexagonal nut rightward and upward to the position above the leftmost purple rod on the wooden rack."}
+{"subtask_index": 187, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: mate: Right hand aligns the white hexagonal nut with the leftmost purple rod and fits it down onto the rod."}
+{"subtask_index": 188, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: hold: Right hand holds the white hexagonal nut on the leftmost purple rod without moving."}
+{"subtask_index": 189, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: place: Right hand places the white hexagonal block onto the front-left purple peg of the wooden base."}
+{"subtask_index": 190, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: release_reach: Right hand releases the white hexagonal block on the peg and reaches toward the white hexagonal block on the black table surface."}
+{"subtask_index": 191, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface with fingers adjusting to stabilize the grip."}
+{"subtask_index": 192, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the black table and moves it above the leftmost purple peg on the wooden pegboard."}
+{"subtask_index": 193, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: mate: Right hand aligns the white hexagonal block with the leftmost purple peg and inserts it downwards to fully assemble the block onto the peg."}
+{"subtask_index": 194, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: release: Right hand releases the white hexagonal block on the leftmost purple peg by opening its fingers."}
+{"subtask_index": 195, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: reach: Right hand moves downward from the pegboard area to approach the white hexagonal block on the table with empty hand."}
+{"subtask_index": 196, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: grasp: Right hand contacts the white hexagonal block on the table and adjusts fingers to form a stable grasp."}
+{"subtask_index": 197, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it upward and backward toward the pegboard."}
+{"subtask_index": 198, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: grasp: Right hand grasps the white hexagonal hollow object on the black table, with fingers closing and adjusting to form a stable grip."}
+{"subtask_index": 199, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal hollow object off the table and transports it upward and rightward to the position above the rightmost purple peg on the wooden base."}
+{"subtask_index": 200, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: mate: Right hand mates the white hexagonal hollow object with the rightmost purple peg, aligning the object's central hole with the peg and lowering the object down along the peg."}
+{"subtask_index": 201, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: place_release: Right hand places the white ring onto the purple peg of the wooden base and releases the ring."}
+{"subtask_index": 202, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the table."}
+{"subtask_index": 203, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: grasp: Right hand grasps the green hexagonal block on the table with fingers closing and adjusting."}
+{"subtask_index": 204, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it toward the wooden peg rack."}
+{"subtask_index": 205, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: mate: Right hand aligns the green hexagonal block with the middle peg on the wooden rack and lowers it to fit onto the peg."}
+{"subtask_index": 206, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: release: Right hand releases the green hexagonal block on the peg, with fingers opening to separate from the block."}
+{"subtask_index": 207, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: idle: Right hand remains empty above the wooden peg rack without moving."}
+{"subtask_index": 208, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: release: Right hand releases the white block on the green block of the wooden peg base."}
+{"subtask_index": 209, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: reach: Right hand moves downward to reach the white hexagonal block on the black table surface."}
+{"subtask_index": 210, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers adjusting to form a stable grip."}
+{"subtask_index": 211, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: lift: Right hand lifts the white hexagonal block up away from the black table surface."}
+{"subtask_index": 212, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: transport: Right hand transports the white hexagonal block upward and leftward to the area above the purple peg on the wooden base."}
+{"subtask_index": 213, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg and fits it onto the peg."}
+{"subtask_index": 214, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: hold: Right hand holds the white hexagonal block on the purple peg without moving."}
+{"subtask_index": 215, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: release: Right hand releases the white cylindrical block on the purple rod of the wooden rack, with fingers opening to separate from the block."}
+{"subtask_index": 216, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the black table surface."}
+{"subtask_index": 217, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface, with fingers closing around the block."}
+{"subtask_index": 218, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it toward the purple rod on the wooden base."}
+{"subtask_index": 219, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod of the wooden base."}
+{"subtask_index": 220, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: hold: Right hand holds the white hexagonal block on the purple rod without moving."}
+{"subtask_index": 221, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: mate_release: Right hand mates the white cylindrical block with the purple peg on the wooden rack and releases the block."}
+{"subtask_index": 222, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table with fingers closing and adjusting for stable grip."}
+{"subtask_index": 223, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it leftward to the position above the wooden block rack with purple pegs."}
+{"subtask_index": 224, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: mate: Right hand aligns the hole of the white hexagonal block with the purple peg on the wooden rack and slowly fits the block down onto the peg."}
+{"subtask_index": 225, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: press_release: Right hand presses down and releases the top of the rightmost front white cylinder on the wooden base."}
+{"subtask_index": 226, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: reach: Right hand moves downward toward the green square block on the black table surface."}
+{"subtask_index": 227, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: grasp: Right hand grasps the green square block on the black table surface with fingers adjusting to form a stable grip."}
+{"subtask_index": 228, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: lift_transport: Right hand lifts the green square ring off the table and moves it toward the set of white bottles on the wooden base."}
+{"subtask_index": 229, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: mate_release: Right hand aligns the green square ring with the top of the front-right white bottle, fits it downward onto the bottle to complete assembly and releases the ring."}
+{"subtask_index": 230, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without significant movement. | Right hand: reach: Right hand moves forward from the right initial position towards the green hexagonal object on the black table."}
+{"subtask_index": 231, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without significant movement. | Right hand: grasp: Right hand adjusts its fingers to contact and grasp the green hexagonal object, with subtle grip adjustment movements."}
+{"subtask_index": 232, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without significant movement. | Right hand: lift: Right hand lifts the green hexagonal block from the black table surface."}
+{"subtask_index": 233, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without significant movement. | Right hand: transport: Right hand transports the green hexagonal block above the leftmost purple peg on the wooden base."}
+{"subtask_index": 234, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without significant movement. | Right hand: mate: Right hand mates the green hexagonal block onto the leftmost purple peg of the wooden base."}
+{"subtask_index": 235, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without significant movement. | Right hand: hold: Right hand holds the green hexagonal block on the leftmost purple peg without moving."}
+{"subtask_index": 236, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without significant movement. | Right hand: place_release: Right hand places and releases the white hexagonal block onto the purple peg of the wooden base."}
+{"subtask_index": 237, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without significant movement. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the black tabletop."}
+{"subtask_index": 238, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without significant movement. | Right hand: grasp: Right hand adjusts fingers to grasp the white hexagonal block on the black tabletop."}
+{"subtask_index": 239, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without significant movement. | Right hand: lift_transport: Right hand lifts the white hexagonal nut from the table and transports it to the top of the leftmost purple post on the wooden base."}
+{"subtask_index": 240, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without significant movement. | Right hand: mate: Right hand aligns the white hexagonal nut with the leftmost purple post and inserts it onto the post."}
+{"subtask_index": 241, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without significant movement. | Right hand: release: Right hand releases the white hexagonal nut fitted on the leftmost purple post."}
+{"subtask_index": 242, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without significant movement. | Right hand: mate: Right hand mates the white cylindrical ring onto the peg of the wooden base."}
+{"subtask_index": 243, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without significant movement. | Right hand: reach: Right hand moves downward toward the white hexagonal part placed on the black table."}
+{"subtask_index": 244, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without significant movement. | Right hand: grasp: Right hand adjusts its fingers to grasp the white hexagonal part on the black table."}
+{"subtask_index": 245, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without significant movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it towards the wooden rack with purple pegs."}
+{"subtask_index": 246, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without significant movement. | Right hand: mate: Right hand aligns the white hexagonal block with the leftmost purple peg on the wooden rack and inserts it onto the peg to complete assembly."}
+{"subtask_index": 247, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without significant movement. | Right hand: place: Right hand places the white ring onto the purple rod on the wooden base."}
+{"subtask_index": 248, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without significant movement. | Right hand: reach: Right hand moves downwards towards the white hexagonal ring on the black tabletop."}
+{"subtask_index": 249, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without significant movement. | Right hand: grasp: Right hand grasps the white hexagonal ring on the black tabletop."}
+{"subtask_index": 250, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without significant movement. | Right hand: lift: Right hand lifts the white hexagonal block from the black table surface."}
+{"subtask_index": 251, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without significant movement. | Right hand: transport: Right hand transports the white hexagonal block above the purple rod on the wooden rack."}
+{"subtask_index": 252, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without significant movement. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod by aligning the hole and pressing down."}
+{"subtask_index": 253, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without significant movement. | Right hand: place_release: Right hand places the white ring onto the purple rod on the wooden base, then releases the ring."}
+{"subtask_index": 254, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without significant movement. | Right hand: reach: Right hand moves toward the green block on the black table surface."}
+{"subtask_index": 255, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without significant movement. | Right hand: grasp: Right hand closes fingers to grasp the green block on the black table."}
+{"subtask_index": 256, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without significant movement. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table and transports it towards the target peg on the wooden rack."}
+{"subtask_index": 257, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without significant movement. | Right hand: mate: Right hand aligns the green hexagonal block with the target peg and inserts it partially onto the peg."}
+{"subtask_index": 258, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without significant movement. | Right hand: lift_transport: Right hand lifts the green hexagonal block slightly from the peg and adjusts its position above the peg."}
+{"subtask_index": 259, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without significant movement. | Right hand: mate_press: Right hand aligns the green hexagonal block with the peg again and presses it down onto the peg."}
+{"subtask_index": 260, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without significant movement. | Right hand: release: Right hand releases the white block onto the pillar on the wooden base."}
+{"subtask_index": 261, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without significant movement. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the black table surface."}
+{"subtask_index": 262, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without significant movement. | Right hand: grasp_lift: Right hand grasps the white hexagonal block and lifts it off the table surface."}
+{"subtask_index": 263, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without significant movement. | Right hand: transport: Right hand carries the white block towards the purple pillar on the wooden base."}
+{"subtask_index": 264, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without significant movement. | Right hand: mate: Right hand aligns the white block with the purple pillar and fits it onto the pillar."}
+{"subtask_index": 265, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without significant movement. | Right hand: release: Right hand releases the white hexagonal ring, with fingers separating from the ring."}
+{"subtask_index": 266, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without significant movement. | Right hand: reach: Right hand moves toward the white hexagonal ring placed on the black tabletop."}
+{"subtask_index": 267, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without significant movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, with fingers closing around the block to form a stable grip."}
+{"subtask_index": 268, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without significant movement. | Right hand: lift: Right hand lifts the grasped white hexagonal block off the black table surface."}
+{"subtask_index": 269, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without significant movement. | Right hand: transport: Right hand transports the white hexagonal block to the position above the purple rod on the wooden base."}
+{"subtask_index": 270, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without significant movement. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it down onto the rod to mate with the base assembly."}
+{"subtask_index": 271, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without significant movement. | Right hand: reach: Right hand reaches toward the white hexagonal block on the black table surface."}
+{"subtask_index": 272, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without significant movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface."}
+{"subtask_index": 273, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without significant movement. | Right hand: lift_transport: Right hand lifts the white hollow block from the tabletop and transports it towards the purple post on the wooden rack."}
+{"subtask_index": 274, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without significant movement. | Right hand: mate_release: Right hand fits the white hollow block onto the purple post then releases the block."}
+{"subtask_index": 275, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without significant movement. | Right hand: release: Right hand releases the purple cap of the bottle in the rightmost column of the wooden base."}
+{"subtask_index": 276, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without significant movement. | Right hand: reach: Right hand moves downward toward the green square block placed on the black table."}
+{"subtask_index": 277, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without significant movement. | Right hand: grasp: Right hand grasps the green square block on the black table with fingers closing."}
+{"subtask_index": 278, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without significant movement. | Right hand: lift_transport: Right hand lifts the green square block and transports it to above the purple capped bottle on the wooden base."}
+{"subtask_index": 279, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without significant movement. | Right hand: mate: Right hand mates the green square block onto the purple capped bottle by aligning and inserting it downward."}
+{"subtask_index": 280, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without significant movement. | Right hand: release: Right hand releases the green square block that is fitted on the purple capped bottle."}
+{"subtask_index": 281, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without significant movement. | Right hand: retreat: Right hand retreats away from the wooden base toward the right side."}
+{"subtask_index": 282, "subtask": "Left hand: idle: Left hand stays empty on the left side of the tabletop, remaining stationary without contacting any operational object throughout the segment. | Right hand: idle: Right hand remains empty at the right initial position above the table without obvious movement."}
+{"subtask_index": 283, "subtask": "Left hand: idle: Left hand stays empty on the left side of the tabletop, remaining stationary without contacting any operational object throughout the segment. | Right hand: reach: Right hand moves forward and downward toward the green hexagonal nut in front of the wooden peg stand while remaining empty."}
+{"subtask_index": 284, "subtask": "Left hand: idle: Left hand stays empty on the left side of the tabletop, remaining stationary without contacting any operational object throughout the segment. | Right hand: grasp: Right hand makes contact with the green hexagonal nut on the table, closing fingers and adjusting contact points to form a grasp."}
+{"subtask_index": 285, "subtask": "Left hand: idle: Left hand stays empty on the left side of the tabletop, remaining stationary without contacting any operational object throughout the segment. | Right hand: lift: Right hand lifts the grasped green hexagonal block upward until the block is fully separated from the black table surface."}
+{"subtask_index": 286, "subtask": "Left hand: idle: Left hand stays empty on the left side of the tabletop, remaining stationary without contacting any operational object throughout the segment. | Right hand: transport: Right hand moves the grasped green hexagonal block to position it directly above the target purple peg on the wooden assembly stand."}
+{"subtask_index": 287, "subtask": "Left hand: idle: Left hand stays empty on the left side of the tabletop, remaining stationary without contacting any operational object throughout the segment. | Right hand: mate: Right hand lowers the green hexagonal block to align its central hole and fit it onto the target purple peg, forming an assembly with existing blocks on the stand."}
+{"subtask_index": 288, "subtask": "Left hand: idle: Left hand stays empty on the left side of the tabletop, remaining stationary without contacting any operational object throughout the segment. | Right hand: hold: Right hand holds the assembled green hexagonal block on the purple peg without observable movement of the hand or block."}
+{"subtask_index": 289, "subtask": "Left hand: idle: Left hand stays empty on the left side of the tabletop, remaining stationary without contacting any operational object throughout the segment. | Right hand: place_release: Right hand moves the held white hexagonal block downward to seat it on the purple peg of the wooden stand, releasing the block once it is fully supported by the peg."}
+{"subtask_index": 290, "subtask": "Left hand: idle: Left hand stays empty on the left side of the tabletop, remaining stationary without contacting any operational object throughout the segment. | Right hand: reach_grasp: Right hand travels downward to the white hexagonal nut resting on the table surface, adjusting finger and wrist positions to close around the nut for a stable grip."}
+{"subtask_index": 291, "subtask": "Left hand: idle: Left hand stays empty on the left side of the tabletop, remaining stationary without contacting any operational object throughout the segment. | Right hand: grasp: Right hand adjusts its grip on the white hexagonal nut resting on the black table surface."}
+{"subtask_index": 292, "subtask": "Left hand: idle: Left hand stays empty on the left side of the tabletop, remaining stationary without contacting any operational object throughout the segment. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table surface and transports it upward to the position directly above the target purple peg on the wooden assembly block."}
+{"subtask_index": 293, "subtask": "Left hand: idle: Left hand stays empty on the left side of the tabletop, remaining stationary without contacting any operational object throughout the segment. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the target purple peg and lowers the nut to fit it onto the peg."}
+{"subtask_index": 294, "subtask": "Left hand: idle: Left hand stays empty on the left side of the tabletop, remaining stationary without contacting any operational object throughout the segment. | Right hand: hold: Right hand holds the fitted white hexagonal nut on the purple peg without visible movement."}
+{"subtask_index": 295, "subtask": "Left hand: idle: Left hand stays empty on the left side of the tabletop, remaining stationary without contacting any operational object throughout the segment. | Right hand: place_release: Right hand holds the white cylindrical block, moves it downward to place it onto the green block on the wooden assembly base, and opens fingers to release the block."}
+{"subtask_index": 296, "subtask": "Left hand: idle: Left hand stays empty on the left side of the tabletop, remaining stationary without contacting any operational object throughout the segment. | Right hand: reach: Right hand moves downward from the assembly base toward the white hexagonal block on the black table surface, approaching the target block."}
+{"subtask_index": 297, "subtask": "Left hand: idle: Left hand stays empty on the left side of the tabletop, remaining stationary without contacting any operational object throughout the segment. | Right hand: grasp: Right hand adjusts finger positions to close around the white hexagonal block on the black table surface to form a grasp."}
+{"subtask_index": 298, "subtask": "Left hand: idle: Left hand stays empty on the left side of the tabletop, remaining stationary without contacting any operational object throughout the segment. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward to position it near the empty purple peg on the wooden pegboard."}
+{"subtask_index": 299, "subtask": "Left hand: idle: Left hand stays empty on the left side of the tabletop, remaining stationary without contacting any operational object throughout the segment. | Right hand: mate: Right hand adjusts the position and orientation of the white hexagonal nut to align its central hollow opening with the top end of the empty purple peg on the wooden pegboard."}
+{"subtask_index": 300, "subtask": "Left hand: idle: Left hand stays empty on the left side of the tabletop, remaining stationary without contacting any operational object throughout the segment. | Right hand: place: Right hand lowers the aligned white hexagonal nut down the purple peg until the nut rests stably on the green plastic base fixed to the pegboard."}
+{"subtask_index": 301, "subtask": "Left hand: idle: Left hand stays empty on the left side of the tabletop, remaining stationary without contacting any operational object throughout the segment. | Right hand: reach: Right hand moves downward and slightly forward from above the wooden peg stand toward the white hexagonal block placed on the table in front of the stand, remaining empty with fingers slightly open during movement."}
+{"subtask_index": 302, "subtask": "Left hand: idle: Left hand stays empty on the left side of the tabletop, remaining stationary without contacting any operational object throughout the segment. | Right hand: grasp: Right hand makes contact with the target white hexagonal block, fingers close around the block and perform small adjustments to establish a stable grip."}
+{"subtask_index": 303, "subtask": "Left hand: idle: Left hand stays empty on the left side of the tabletop, remaining stationary without contacting any operational object throughout the segment. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface and transports it upward to position it directly above the purple rod on the wooden base."}
+{"subtask_index": 304, "subtask": "Left hand: idle: Left hand stays empty on the left side of the tabletop, remaining stationary without contacting any operational object throughout the segment. | Right hand: mate: Right hand aligns the hole of the white hexagonal block with the purple rod on the wooden base, lowers the block to fit it onto the rod to complete assembly."}
+{"subtask_index": 305, "subtask": "Left hand: idle: Left hand stays empty on the left side of the tabletop, remaining stationary without contacting any operational object throughout the segment. | Right hand: reach: Right hand moves downward from the upper area of the wooden block rack with empty fingers to approach the green hexagonal nut placed on the table near the rack."}
+{"subtask_index": 306, "subtask": "Left hand: idle: Left hand stays empty on the left side of the tabletop, remaining stationary without contacting any operational object throughout the segment. | Right hand: grasp: Right hand closes its fingers around the green hexagonal nut on the table, making slight finger adjustments to form a stable grip while the nut stays on the table surface."}
+{"subtask_index": 307, "subtask": "Left hand: idle: Left hand stays empty on the left side of the tabletop, remaining stationary without contacting any operational object throughout the segment. | Right hand: lift: Right hand moves the grasped green hexagonal nut upward to lift it completely off the table surface."}
+{"subtask_index": 308, "subtask": "Left hand: idle: Left hand stays empty on the left side of the tabletop, remaining stationary without contacting any operational object throughout the segment. | Right hand: transport: Right hand carries the lifted green hexagonal nut upward and horizontally toward the purple vertical post on the wooden block rack, positioning the nut directly above the post."}
+{"subtask_index": 309, "subtask": "Left hand: idle: Left hand stays empty on the left side of the tabletop, remaining stationary without contacting any operational object throughout the segment. | Right hand: mate_place: Right hand aligns the central hole of the green hexagonal nut with the purple vertical post, moves the nut downward to fit onto the post until the nut rests stably on the light purple block underneath."}
+{"subtask_index": 310, "subtask": "Left hand: idle: Left hand stays empty on the left side of the tabletop, remaining stationary without contacting any operational object throughout the segment. | Right hand: release: Right hand opens fingers to release the green block seated on the wooden peg stand, losing contact with the block."}
+{"subtask_index": 311, "subtask": "Left hand: idle: Left hand stays empty on the left side of the tabletop, remaining stationary without contacting any operational object throughout the segment. | Right hand: reach: Right hand moves downward toward the white hexagonal block placed on the dark table surface, fingers held slightly open."}
+{"subtask_index": 312, "subtask": "Left hand: idle: Left hand stays empty on the left side of the tabletop, remaining stationary without contacting any operational object throughout the segment. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, adjusting finger position to form a grip."}
+{"subtask_index": 313, "subtask": "Left hand: idle: Left hand stays empty on the left side of the tabletop, remaining stationary without contacting any operational object throughout the segment. | Right hand: hold: Right hand holds the white hexagonal nut against the dark table surface without moving."}
+{"subtask_index": 314, "subtask": "Left hand: idle: Left hand stays empty on the left side of the tabletop, remaining stationary without contacting any operational object throughout the segment. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table surface and moves it upward toward the wooden peg assembly."}
+{"subtask_index": 315, "subtask": "Left hand: idle: Left hand stays empty on the left side of the tabletop, remaining stationary without contacting any operational object throughout the segment. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple vertical peg on the wooden base, adjusting position to fit the nut onto the peg."}
+{"subtask_index": 316, "subtask": "Left hand: idle: Left hand stays empty on the left side of the tabletop, remaining stationary without contacting any operational object throughout the segment. | Right hand: place_release: Right hand places the white cylindrical block into the empty top-right slot of the wooden block stand, opening fingers to release the block once it is supported by the stand."}
+{"subtask_index": 317, "subtask": "Left hand: idle: Left hand stays empty on the left side of the tabletop, remaining stationary without contacting any operational object throughout the segment. | Right hand: reach: Right hand moves diagonally down-right toward the upper white hexagonal nut on the black table surface, holding fingers open during the approach to the target."}
+{"subtask_index": 318, "subtask": "Left hand: idle: Left hand stays empty on the left side of the tabletop, remaining stationary without contacting any operational object throughout the segment. | Right hand: grasp: Right hand closes fingers around the upper white hexagonal nut on the table to make contact and form an initial grip on the object."}
+{"subtask_index": 319, "subtask": "Left hand: idle: Left hand stays empty on the left side of the tabletop, remaining stationary without contacting any operational object throughout the segment. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table surface, moving it upward and leftward to the position directly above the purple post on the wooden block stand."}
+{"subtask_index": 320, "subtask": "Left hand: idle: Left hand stays empty on the left side of the tabletop, remaining stationary without contacting any operational object throughout the segment. | Right hand: mate: Right hand aligns the hole of the white hexagonal nut with the purple post, lowering the nut to fit it onto the post."}
+{"subtask_index": 321, "subtask": "Left hand: idle: Left hand stays empty on the left side of the tabletop, remaining stationary without contacting any operational object throughout the segment. | Right hand: place: Right hand holds the white cylindrical block on the purple rod, moves it downward until the block rests stably on the wooden base."}
+{"subtask_index": 322, "subtask": "Left hand: idle: Left hand stays empty on the left side of the tabletop, remaining stationary without contacting any operational object throughout the segment. | Right hand: release: Right hand opens fingers to release the white cylindrical block, separating from the block on the wooden base."}
+{"subtask_index": 323, "subtask": "Left hand: idle: Left hand stays empty on the left side of the tabletop, remaining stationary without contacting any operational object throughout the segment. | Right hand: reach: Right hand moves empty toward the white hexagonal nut on the dark table surface, approaching the target object."}
+{"subtask_index": 324, "subtask": "Left hand: idle: Left hand stays empty on the left side of the tabletop, remaining stationary without contacting any operational object throughout the segment. | Right hand: grasp: Right hand closes fingers to make contact with the white hexagonal nut on the table, initiating a grasp."}
+{"subtask_index": 325, "subtask": "Left hand: idle: Left hand stays empty on the left side of the tabletop, remaining stationary without contacting any operational object throughout the segment. | Right hand: lift: Right hand lifts the grasped white hexagonal nut upward until the nut is completely separated from the table surface."}
+{"subtask_index": 326, "subtask": "Left hand: idle: Left hand stays empty on the left side of the tabletop, remaining stationary without contacting any operational object throughout the segment. | Right hand: transport: Right hand moves the grasped white hexagonal nut toward the purple vertical peg on the wooden block base, positioning the nut directly above the peg."}
+{"subtask_index": 327, "subtask": "Left hand: idle: Left hand stays empty on the left side of the tabletop, remaining stationary without contacting any operational object throughout the segment. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple vertical peg and lowers the nut to fit it securely onto the peg."}
+{"subtask_index": 328, "subtask": "Left hand: idle: Left hand stays empty on the left side of the tabletop, remaining stationary without contacting any operational object throughout the segment. | Right hand: release: Right hand opens its fingers to release the white hexagonal nut fitted on the purple peg, separating the hand from the nut surface."}
+{"subtask_index": 329, "subtask": "Left hand: idle: Left hand stays empty on the left side of the tabletop, remaining stationary without contacting any operational object throughout the segment. | Right hand: reach: Right hand moves empty downward toward the green cube placed on the dark table surface."}
+{"subtask_index": 330, "subtask": "Left hand: idle: Left hand stays empty on the left side of the tabletop, remaining stationary without contacting any operational object throughout the segment. | Right hand: grasp: Right hand adjusts finger positions around the green cube to establish a stable grip."}
+{"subtask_index": 331, "subtask": "Left hand: idle: Left hand stays empty on the left side of the tabletop, remaining stationary without contacting any operational object throughout the segment. | Right hand: hold: Right hand holds the green hexagonal block resting on the dark gray table surface without moving."}
+{"subtask_index": 332, "subtask": "Left hand: idle: Left hand stays empty on the left side of the tabletop, remaining stationary without contacting any operational object throughout the segment. | Right hand: lift: Right hand moves upward to lift the green hexagonal block completely off the dark gray table surface."}
+{"subtask_index": 333, "subtask": "Left hand: idle: Left hand stays empty on the left side of the tabletop, remaining stationary without contacting any operational object throughout the segment. | Right hand: transport: Right hand moves the held green hexagonal block upward and rightward to the position above the target post on the wooden block rack."}
+{"subtask_index": 334, "subtask": "Left hand: idle: Left hand stays empty on the left side of the tabletop, remaining stationary without contacting any operational object throughout the segment. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the target post on the wooden rack and lowers the block to attempt fitting onto the post."}
+{"subtask_index": 335, "subtask": "Left hand: idle: Left hand stays empty on the left side of the tabletop, remaining stationary without contacting any operational object throughout the segment. | Right hand: reorient: Right hand slightly lifts the green hexagonal block and rotates its wrist slightly to adjust the block's orientation for better alignment."}
+{"subtask_index": 336, "subtask": "Left hand: idle: Left hand stays empty on the left side of the tabletop, remaining stationary without contacting any operational object throughout the segment. | Right hand: mate: Right hand aligns the adjusted green hexagonal block with the target post and lowers the block to fit onto the post."}
+{"subtask_index": 337, "subtask": "Left hand: idle: Left hand stays empty on the left side of the tabletop, remaining stationary without contacting any operational object throughout the segment. | Right hand: press: Right hand presses downward on the top surface of the green hexagonal block along the post axis to fully seat the block on the post."}
+{"subtask_index": 338, "subtask": "Left hand: idle: Left hand stays empty on the left side of the tabletop, remaining stationary without contacting any operational object throughout the segment. | Right hand: release: Right hand opens its fingers to release the fully seated green hexagonal block, separating the hand from the block."}
+{"subtask_index": 339, "subtask": "Left hand: idle: Left hand stays empty on the left side of the tabletop, remaining stationary without contacting any operational object throughout the segment. | Right hand: retreat: Right hand moves backward away from the wooden block rack after releasing the block."}
+{"subtask_index": 340, "subtask": "Left hand: other:adjust_hand_pose: Left hand moves slightly upward and rotates its wrist, adjusting finger posture while remaining empty. | Right hand: reach: Right hand moves leftward and downward toward the green hexagonal block on the black table, with fingers open."}
+{"subtask_index": 341, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves leftward and downward toward the green hexagonal block on the black table, with fingers open."}
+{"subtask_index": 342, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table, with fingers adjusting to form a stable grip."}
+{"subtask_index": 343, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift: Right hand lifts the green hexagonal block up from the black worktable surface."}
+{"subtask_index": 344, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: transport: Right hand transports the green hexagonal block to the position above the leftmost peg of the rack."}
+{"subtask_index": 345, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the leftmost peg of the rack by lowering it to fit the hole."}
+{"subtask_index": 346, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: hold: Right hand holds the green hexagonal block on the leftmost peg of the rack without moving."}
+{"subtask_index": 347, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: release: Right hand releases the white hexagonal block on the leftmost purple peg of the wooden base, with fingers gradually opening and separating from the block."}
+{"subtask_index": 348, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves downward and forward to reach the white hexagonal block on the tabletop to the left of the green block."}
+{"subtask_index": 349, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the tabletop, with fingers closing and adjusting to form a stable grip."}
+{"subtask_index": 350, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the tabletop and transports it upward and rightward to the top of the leftmost purple peg of the wooden base."}
+{"subtask_index": 351, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the leftmost purple peg and inserts it downward along the peg until it reaches the green block below."}
+{"subtask_index": 352, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: release: Right hand releases the white hexagonal block on the leftmost purple peg, with fingers opening and separating from the block."}
+{"subtask_index": 353, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table surface, with empty hand."}
+{"subtask_index": 354, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table surface, with fingers closing and adjusting to form stable grip."}
+{"subtask_index": 355, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table and transports it upward and leftward toward the wooden peg rack with purple pegs."}
+{"subtask_index": 356, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand mates the white hexagonal nut onto the top-left purple peg of the wooden rack, moving downward continuously to insert the peg through the nut's central hole."}
+{"subtask_index": 357, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate_release: Right hand mates the white hexagonal block onto the left purple peg and releases the block."}
+{"subtask_index": 358, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table."}
+{"subtask_index": 359, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table with fingers closing and adjusting."}
+{"subtask_index": 360, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift_transport: Right hand lifts the white hollow hexagonal block from the table and moves it to above the middle purple peg of the wooden base."}
+{"subtask_index": 361, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate_release: Right hand fits the white hollow hexagonal block onto the middle purple peg and releases the block after it reaches the base."}
+{"subtask_index": 362, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: release: Right hand releases the white cylindrical block on the purple peg of the wooden base, with fingers opening to separate from the block."}
+{"subtask_index": 363, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand reaches downward toward the green hexagonal block on the black table surface."}
+{"subtask_index": 364, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers closing around the block to form a stable grip."}
+{"subtask_index": 365, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it upward toward the wooden base with pegs."}
+{"subtask_index": 366, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the front purple peg of the wooden base by aligning the hole and lowering the block onto the peg."}
+{"subtask_index": 367, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: release: Right hand releases the object on the wooden base, with fingers opening to separate from the object."}
+{"subtask_index": 368, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal part on the black table, with fingers slightly open."}
+{"subtask_index": 369, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand grasps the white hexagonal part on the black table, with fingers closing and adjusting to form a stable grip."}
+{"subtask_index": 370, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the black table and transports it to the position above the purple rod on the wooden base."}
+{"subtask_index": 371, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod on the wooden base and moves it downward to assemble the block onto the rod."}
+{"subtask_index": 372, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: release: Right hand releases the purple rod on the wooden base, with fingers gradually opening to separate from the rod."}
+{"subtask_index": 373, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves downward and rightward toward the upper white hexagonal block on the table, keeping fingers open."}
+{"subtask_index": 374, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand grasps the upper white hexagonal block on the table, with fingers closing around the block."}
+{"subtask_index": 375, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it to the position above the purple rod on the wooden base."}
+{"subtask_index": 376, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate_release: Right hand aligns the white hexagonal block with the purple rod, fits it onto the rod, and releases the block."}
+{"subtask_index": 377, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: place_release: Right hand places the white cylindrical block onto the purple rod on the wooden base and releases it."}
+{"subtask_index": 378, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand reaches toward the white hexagonal block on the table."}
+{"subtask_index": 379, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing."}
+{"subtask_index": 380, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it toward the purple rod on the wooden base."}
+{"subtask_index": 381, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod by aligning and lowering it onto the rod."}
+{"subtask_index": 382, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: release: Right hand releases the white hexagonal block on the purple rod with fingers opening."}
+{"subtask_index": 383, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves downward from the right side of the block tower toward the green cubic block on the black table."}
+{"subtask_index": 384, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green cubic block on the black table."}
+{"subtask_index": 385, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift_transport: Right hand lifts the green cubic block off the table and transports it upward and leftward to the top of the rightmost column of the block tower."}
+{"subtask_index": 386, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand moves the green cubic block downward to fit it onto the rightmost white column of the block tower."}
+{"subtask_index": 387, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reorient: Right hand lifts the green cubic block slightly upward and adjusts its orientation above the rightmost white column."}
+{"subtask_index": 388, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand moves the green cubic block downward again to fit it fully onto the rightmost white column of the block tower."}
+{"subtask_index": 389, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: release_retreat: Right hand releases the green cubic block and moves upward away from the block tower."}
+{"subtask_index": 390, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves towards the green block on the black table with fingers extended."}
+{"subtask_index": 391, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand closes fingers around the green block to establish stable grip."}
+{"subtask_index": 392, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: push: Right hand pushes the green block on the table slightly towards the left direction."}
+{"subtask_index": 393, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand adjusts its grip on the green cylindrical object placed on the black table."}
+{"subtask_index": 394, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the green cylindrical object from the table and moves it toward the purple peg on the wooden base."}
+{"subtask_index": 395, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: place: Right hand places the green cylindrical object onto the top of the target purple peg."}
+{"subtask_index": 396, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: press: Right hand presses the green cylindrical object down along the purple peg to secure it."}
+{"subtask_index": 397, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves down towards the white hexagonal object on the black table surface."}
+{"subtask_index": 398, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal object on the black table surface."}
+{"subtask_index": 399, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the tabletop and transports it to the position above the purple rod on the wooden base."}
+{"subtask_index": 400, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it onto the top of the rod."}
+{"subtask_index": 401, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: press: Right hand presses the white hexagonal block down along the purple rod to the lower position."}
+{"subtask_index": 402, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: hold: Right hand holds the white hexagonal block on the purple rod without moving."}
+{"subtask_index": 403, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand mates the white cylindrical block onto the purple peg of the wooden base."}
+{"subtask_index": 404, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: retreat: Right hand moves downward away from the wooden base towards the white hexagonal block on the table."}
+{"subtask_index": 405, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand adjusts its fingers to grasp the white hexagonal block on the black table surface."}
+{"subtask_index": 406, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it towards the test tube rack."}
+{"subtask_index": 407, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand mates the white hexagonal block onto the purple test tube on the test tube rack with adjustment movements."}
+{"subtask_index": 408, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: retreat: Right hand retreats from the assembled white hexagonal block towards the adjacent test tube."}
+{"subtask_index": 409, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand reaches towards the white hexagonal block on the adjacent test tube of the rack."}
+{"subtask_index": 410, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the adjacent test tube of the rack."}
+{"subtask_index": 411, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the black table."}
+{"subtask_index": 412, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the black table."}
+{"subtask_index": 413, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it towards the purple peg on the wooden base."}
+{"subtask_index": 414, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: place: Right hand places the white hexagonal block onto the purple peg on the wooden base."}
+{"subtask_index": 415, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: release: Right hand releases the green block on the purple rod of the wooden base and moves downward."}
+{"subtask_index": 416, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves downward toward the green block placed on the black tabletop."}
+{"subtask_index": 417, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand closes its fingers to grasp the green block on the black tabletop."}
+{"subtask_index": 418, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the green block from the tabletop and transports it to the top of the target rod on the wooden base."}
+{"subtask_index": 419, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand aligns the green block with the target rod and inserts it onto the rod."}
+{"subtask_index": 420, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: press: Right hand presses the green block down along the rod to secure its position."}
+{"subtask_index": 421, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: hold: Right hand holds the green block on the rod without any movement."}
+{"subtask_index": 422, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: place_release: Right hand places the white cylindrical block onto the peg on top of the green block on the wooden base and releases the block."}
+{"subtask_index": 423, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves downward toward the green block on the black table surface."}
+{"subtask_index": 424, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table."}
+{"subtask_index": 425, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block and transports it toward the purple rod on the wooden base."}
+{"subtask_index": 426, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod, adjusting to fit into position."}
+{"subtask_index": 427, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: place_release: Right hand places the white hexagonal block onto the purple peg of the wooden base and releases the grip on the block."}
+{"subtask_index": 428, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves downwards towards the white hexagonal block on the black table surface."}
+{"subtask_index": 429, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, adjusting fingers to form a stable grip."}
+{"subtask_index": 430, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it to the position above the purple rod on the wooden base."}
+{"subtask_index": 431, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod by aligning and lowering it onto the rod."}
+{"subtask_index": 432, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: release: Right hand releases the white hexagonal block placed on the purple rod of the wooden base."}
+{"subtask_index": 433, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the black table surface."}
+{"subtask_index": 434, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface with fingers closing around the block."}
+{"subtask_index": 435, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and transports it upward toward the purple rod on the wooden base."}
+{"subtask_index": 436, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod by aligning the block's hole with the rod and inserting it down onto the rod."}
+{"subtask_index": 437, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: place_release: Right hand places the white cylindrical block onto the wooden base and releases the block."}
+{"subtask_index": 438, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves towards the green square block on the lower right of the table."}
+{"subtask_index": 439, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand closes its fingers to grasp the green square block on the table."}
+{"subtask_index": 440, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: hold: Right hand holds the green square block on the right side of the table without moving."}
+{"subtask_index": 441, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: transport: Right hand transports the green square block towards the rightmost white post on the wooden base."}
+{"subtask_index": 442, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand mates the green square block onto the rightmost white post on the wooden base."}
+{"subtask_index": 443, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: release_retreat: Right hand releases the green square block and retreats from the wooden base."}
+{"subtask_index": 444, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace with no obvious displacement or interaction with any objects. | Right hand: reach: Right hand moves forward and downward with open fingers from its initial right position toward the green hexagonal nut placed next to the wooden block stand."}
+{"subtask_index": 445, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace with no obvious displacement or interaction with any objects. | Right hand: grasp: Right hand adjusts finger positions and closes fingers gradually to establish contact and form a grasp on the green hexagonal nut on the table surface."}
+{"subtask_index": 446, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace with no obvious displacement or interaction with any objects. | Right hand: lift: Right hand holds the green hexagonal block and moves upward to lift it completely off the black table surface."}
+{"subtask_index": 447, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace with no obvious displacement or interaction with any objects. | Right hand: transport: Right hand carries the lifted green hexagonal block to position directly above the target purple assembly peg."}
+{"subtask_index": 448, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace with no obvious displacement or interaction with any objects. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple assembly peg and moves downward to fit the block onto the peg."}
+{"subtask_index": 449, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace with no obvious displacement or interaction with any objects. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple assembly peg without observable movement."}
+{"subtask_index": 450, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace with no obvious displacement or interaction with any objects. | Right hand: reach: Right hand moves downward from the wooden peg assembly toward the white hexagonal nut on the black table surface, approaching the target without establishing contact."}
+{"subtask_index": 451, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace with no obvious displacement or interaction with any objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table surface to form a stable grasp on the object."}
+{"subtask_index": 452, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace with no obvious displacement or interaction with any objects. | Right hand: lift: Right hand lifts the grasped white hexagonal nut vertically upward to fully separate it from the supporting table surface."}
+{"subtask_index": 453, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace with no obvious displacement or interaction with any objects. | Right hand: transport: Right hand moves the grasped white hexagonal nut upward and leftward to position it directly above the leftmost purple peg on the wooden assembly base."}
+{"subtask_index": 454, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace with no obvious displacement or interaction with any objects. | Right hand: mate: Right hand aligns the white hexagonal nut with the leftmost purple peg, lowers the nut to fit onto the peg, and makes small adjustments to properly seat the nut during assembly."}
+{"subtask_index": 455, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace with no obvious displacement or interaction with any objects. | Right hand: reach: Right hand moves downward and forward from the position above the wooden pegboard toward the front white hexagonal nut on the black work surface, with fingers slightly spread and no contact with the nut yet."}
+{"subtask_index": 456, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace with no obvious displacement or interaction with any objects. | Right hand: grasp: Right hand contacts the front white hexagonal nut on the black work surface, adjusting finger positions to close around the nut to form a grip, with the nut remaining on the work surface."}
+{"subtask_index": 457, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace with no obvious displacement or interaction with any objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface, moving it upward to position above the purple rod on the wooden assembly block."}
+{"subtask_index": 458, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace with no obvious displacement or interaction with any objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the top of the purple rod, lowering the nut to seat onto the rod."}
+{"subtask_index": 459, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace with no obvious displacement or interaction with any objects. | Right hand: mate_release: Right hand aligns and fits the white hexagonal block onto the purple peg on the wooden base, releasing grip on the block once it is seated on the peg."}
+{"subtask_index": 460, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace with no obvious displacement or interaction with any objects. | Right hand: reach: Right hand moves downward while empty toward the nearest white hexagonal block on the table surface, approaching the target block without contact."}
+{"subtask_index": 461, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace with no obvious displacement or interaction with any objects. | Right hand: grasp: Right hand closes fingers around the nearby white hexagonal block on the table, adjusting finger contact positions to establish a stable grip on the block."}
+{"subtask_index": 462, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace with no obvious displacement or interaction with any objects. | Right hand: lift_transport: Right hand lifts the white hexagonal nut completely off the table surface and moves it upward to position directly above the empty purple peg on the wooden base."}
+{"subtask_index": 463, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace with no obvious displacement or interaction with any objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the empty purple peg on the wooden base and lowers the nut to fit onto the peg to establish the assembled connection."}
+{"subtask_index": 464, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace with no obvious displacement or interaction with any objects. | Right hand: reach: Right hand moves downward from the wooden block assembly area toward the green hexagonal nut on the black table surface, fingers slightly spread."}
+{"subtask_index": 465, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace with no obvious displacement or interaction with any objects. | Right hand: grasp: Right hand closes fingers around the green hexagonal nut on the table to establish a stable grip."}
+{"subtask_index": 466, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace with no obvious displacement or interaction with any objects. | Right hand: lift_transport: Right hand lifts the green hexagonal block completely off the table surface, and moves it upward to position above the purple post on the wooden block assembly."}
+{"subtask_index": 467, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace with no obvious displacement or interaction with any objects. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple post, and lowers the block to fit snugly onto the post to form the assembly."}
+{"subtask_index": 468, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace with no obvious displacement or interaction with any objects. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple post without any visible movement of the hand or the block."}
+{"subtask_index": 469, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace with no obvious displacement or interaction with any objects. | Right hand: reach: Right hand moves downward from the area near the wooden pegboard toward the white hexagonal nut resting on the dark table surface adjacent to the green block, making no contact with the nut during this movement."}
+{"subtask_index": 470, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace with no obvious displacement or interaction with any objects. | Right hand: grasp: Right hand contacts the white hexagonal nut on the table, adjusting its finger positions and closing fingers around the nut to establish a grip."}
+{"subtask_index": 471, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace with no obvious displacement or interaction with any objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block completely off the table surface and moves it toward the purple peg on the wooden assembly base."}
+{"subtask_index": 472, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace with no obvious displacement or interaction with any objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple peg, lowers the block to fit onto the peg, and makes small positional adjustments to seat it properly."}
+{"subtask_index": 473, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace with no obvious displacement or interaction with any objects. | Right hand: place_release: Right hand holds the white hexagonal block, moves it downward to seat it onto the corresponding vertical rod on the wooden stand, releasing fingers to separate from the stably supported block."}
+{"subtask_index": 474, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace with no obvious displacement or interaction with any objects. | Right hand: reach: Right hand moves empty downward and rightward toward the nearest white hexagonal nut resting on the dark table surface adjacent to the wooden stand."}
+{"subtask_index": 475, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace with no obvious displacement or interaction with any objects. | Right hand: grasp: Right hand closes fingers around the adjacent white hexagonal nut on the table, adjusting finger contact positions to establish a secure hold on the object."}
+{"subtask_index": 476, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace with no obvious displacement or interaction with any objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the table surface and moves it upward to position directly above the purple vertical rod on the wooden block stand."}
+{"subtask_index": 477, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace with no obvious displacement or interaction with any objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the top of the purple vertical rod and fits the nut onto the rod to establish the assembly connection."}
+{"subtask_index": 478, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace with no obvious displacement or interaction with any objects. | Right hand: place: Right hand lowers the white hexagonal nut along the purple vertical rod until the nut rests securely on the supporting white block at the rod base."}
+{"subtask_index": 479, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace with no obvious displacement or interaction with any objects. | Right hand: reach: Right hand moves from the area above the wooden block set down toward the white hexagonal block on the table surface, with fingers slightly open as it approaches the target block."}
+{"subtask_index": 480, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace with no obvious displacement or interaction with any objects. | Right hand: grasp: Right hand closes its fingers around the white hexagonal block on the table, making small adjustments to finger positions to form a stable grip on the block."}
+{"subtask_index": 481, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace with no obvious displacement or interaction with any objects. | Right hand: lift_transport: Right hand lifts the white hexagonal block fully off the table surface and moves it upward and leftward to position it directly above the purple rod on the wooden block set."}
+{"subtask_index": 482, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace with no obvious displacement or interaction with any objects. | Right hand: mate: Right hand holds the white hexagonal block and makes small positional and rotational adjustments to align the central hole of the block with the purple rod below, preparing to fit the block onto the rod."}
+{"subtask_index": 483, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace with no obvious displacement or interaction with any objects. | Right hand: release: Right hand releases the white cylindrical block with purple top inserted in the wooden base, fingers opening and separating from the block."}
+{"subtask_index": 484, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace with no obvious displacement or interaction with any objects. | Right hand: reach: Right hand moves empty downward and rightward toward the green square block placed on the dark table surface."}
+{"subtask_index": 485, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace with no obvious displacement or interaction with any objects. | Right hand: grasp: Right hand closes fingers around the green square block on the table surface to form a grasp, with the block remaining on the supporting table."}
+{"subtask_index": 486, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace with no obvious displacement or interaction with any objects. | Right hand: hold: Right hand holds the green hollow block steadily on the black table surface without movement."}
+{"subtask_index": 487, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace with no obvious displacement or interaction with any objects. | Right hand: lift_transport: Right hand lifts the green hollow block off the table surface, transporting it upward and leftward to the position above the target white cylinder on the wooden block holder."}
+{"subtask_index": 488, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace with no obvious displacement or interaction with any objects. | Right hand: mate: Right hand aligns the central hole of the green hollow block with the target white cylinder on the wooden holder, moving the block downward to fit the cylinder through the hole."}
+{"subtask_index": 489, "subtask": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: reach: Right hand moves leftward and downward from the right side of the workbench toward the green hexagonal block on the left lower part of the table."}
+{"subtask_index": 490, "subtask": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: grasp: Right hand grasps the green hexagonal block on the left lower part of the table, with fingers adjusting to form a stable grip."}
+{"subtask_index": 491, "subtask": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: lift: Right hand lifts the green hexagonal block upward away from the table surface."}
+{"subtask_index": 492, "subtask": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: transport: Right hand transports the green hexagonal block to the position above the leftmost purple peg of the wooden rack."}
+{"subtask_index": 493, "subtask": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: mate: Right hand mates the green hexagonal block onto the leftmost purple peg of the wooden rack by lowering it and fitting its hole over the peg."}
+{"subtask_index": 494, "subtask": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: hold: Right hand holds the green hexagonal block on the leftmost purple peg of the wooden rack without moving."}
+{"subtask_index": 495, "subtask": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: mate_release: Right hand mates the white hexagonal ring onto the left green peg of the pegboard and releases its grip."}
+{"subtask_index": 496, "subtask": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: reach: Right hand moves down and left toward the white hexagonal ring on the table."}
+{"subtask_index": 497, "subtask": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: grasp: Right hand grasps the white hexagonal ring on the table, with fingers adjusting to secure the grip."}
+{"subtask_index": 498, "subtask": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: lift_transport: Right hand lifts and transports the white hexagonal block from the table surface to the position above the leftmost purple rod."}
+{"subtask_index": 499, "subtask": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: mate: Right hand mates the white hexagonal block with the leftmost purple rod by aligning and inserting it downward along the rod."}
+{"subtask_index": 500, "subtask": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: hold: Right hand holds the white hexagonal block fitted on the leftmost purple rod without moving."}
+{"subtask_index": 501, "subtask": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: mate_release: Right hand mates the white cylindrical block onto the front-left purple peg and releases its grip on the block."}
+{"subtask_index": 502, "subtask": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the black table surface."}
+{"subtask_index": 503, "subtask": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing around it."}
+{"subtask_index": 504, "subtask": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table while transporting it toward the peg rack on the right."}
+{"subtask_index": 505, "subtask": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: mate: Right hand mates the white hexagonal block with the leftmost peg of the rack, adjusting the block to fit onto the peg completely."}
+{"subtask_index": 506, "subtask": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: release: Right hand releases the white hexagonal block on the peg, with fingers opening to separate from the block."}
+{"subtask_index": 507, "subtask": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: retreat: Right hand retreats upward and away from the peg rack after releasing the block."}
+{"subtask_index": 508, "subtask": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: reach: Right hand moves downward from the rack toward the white hexagonal block on the table."}
+{"subtask_index": 509, "subtask": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing and adjusting the grip."}
+{"subtask_index": 510, "subtask": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: push: Right hand pushes the white hexagonal block forward on the table surface toward the rack."}
+{"subtask_index": 511, "subtask": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: release: Right hand releases the white hexagonal block, with fingers opening and separating from the block."}
+{"subtask_index": 512, "subtask": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: reach: Right hand moves upward toward the white block on the right purple peg of the rack."}
+{"subtask_index": 513, "subtask": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: grasp_press: Right hand grasps and presses down the white block on the right purple peg of the rack."}
+{"subtask_index": 514, "subtask": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table near the wooden rack, with fingers closing to adjust the grip while the block stays on the table."}
+{"subtask_index": 515, "subtask": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it upward and rightward to the position above the purple peg on the wooden rack."}
+{"subtask_index": 516, "subtask": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: mate: Right hand mates the white hexagonal block with the purple peg on the wooden rack, lowering the block onto the peg until it is supported by the lower block on the peg."}
+{"subtask_index": 517, "subtask": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple peg of the wooden rack without moving."}
+{"subtask_index": 518, "subtask": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: release: Right hand releases the white hexagonal block on the purple peg, with fingers opening and moving slightly away from the block."}
+{"subtask_index": 519, "subtask": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: reach: Right hand reaches downward toward the green hexagonal block on the black table without making contact."}
+{"subtask_index": 520, "subtask": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table, with fingers closing and adjusting to form a stable grip."}
+{"subtask_index": 521, "subtask": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: lift_transport: Right hand lifts and transports the green hexagonal block from the table upward to the position above the target peg on the wooden board."}
+{"subtask_index": 522, "subtask": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: mate: Right hand mates the green hexagonal block with the target peg by aligning and inserting it downward onto the peg until the block is supported by the white block below."}
+{"subtask_index": 523, "subtask": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: release: Right hand releases the green hexagonal block on the peg, with fingers opening to separate from the block."}
+{"subtask_index": 524, "subtask": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface with fingers closing."}
+{"subtask_index": 525, "subtask": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: lift: Right hand lifts the white hexagonal block upward until it leaves the black table surface."}
+{"subtask_index": 526, "subtask": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: transport: Right hand transports the white hexagonal block upward to the position above the wooden rack's peg."}
+{"subtask_index": 527, "subtask": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: mate: Right hand mates the white hexagonal block onto the wooden rack's peg by aligning and lowering it onto the peg."}
+{"subtask_index": 528, "subtask": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: release: Right hand releases the white hexagonal block on the wooden rack's peg, with fingers opening."}
+{"subtask_index": 529, "subtask": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: press: Right hand presses the white cylindrical part on the purple rod downward to adjust its position."}
+{"subtask_index": 530, "subtask": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: reach: Right hand moves downward toward the white hexagonal part on the black table surface."}
+{"subtask_index": 531, "subtask": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: grasp: Right hand grasps the white hexagonal part on the black table surface with fingers closing."}
+{"subtask_index": 532, "subtask": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: lift_transport: Right hand lifts the white hexagonal part from the table surface and moves it upward toward the purple rod."}
+{"subtask_index": 533, "subtask": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: mate: Right hand aligns the white hexagonal part with the purple rod, fits it onto the rod, and presses it down to complete assembly."}
+{"subtask_index": 534, "subtask": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: release: Right hand releases the white hexagonal part on the purple rod with fingers opening."}
+{"subtask_index": 535, "subtask": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: idle: Right hand remains empty beside the purple rod without moving."}
+{"subtask_index": 536, "subtask": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: place_release: Right hand places the white cylindrical block onto the purple rod on the wooden base and releases the block."}
+{"subtask_index": 537, "subtask": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table."}
+{"subtask_index": 538, "subtask": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table with fingers closing around it."}
+{"subtask_index": 539, "subtask": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it to the position above the purple post on the wooden rack."}
+{"subtask_index": 540, "subtask": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: mate: Right hand mates the white hexagonal block with the purple post on the rack by aligning and lowering it onto the post."}
+{"subtask_index": 541, "subtask": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: release: Right hand releases the white hexagonal block on the purple post by opening its fingers."}
+{"subtask_index": 542, "subtask": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: reach: Right hand moves downward toward the green cubic block on the right side of the table, with fingers slightly open."}
+{"subtask_index": 543, "subtask": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: grasp: Right hand grasps the green cubic block on the table, with fingers closing around the block."}
+{"subtask_index": 544, "subtask": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: lift_transport: Right hand lifts the green cubic block off the table and transports it upward and leftward toward the front-right white bottle on the wooden tray."}
+{"subtask_index": 545, "subtask": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: mate: Right hand aligns the green cubic block with the front-right white bottle and fits it onto the bottle to complete the assembly."}
+{"subtask_index": 546, "subtask": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: press: Right hand presses down on the green cubic block on the front-right bottle, applying downward force to push the bottle down until it is level with adjacent bottles."}
+{"subtask_index": 547, "subtask": "Left hand: hold: Left hand holds a white block and remains stationary at the left side of the workspace. | Right hand: release: Right hand releases the green cubic block on the front-right bottle, with fingers opening and moving away from the block."}
+{"subtask_index": 548, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves toward the green cube located on the black table in front of the wooden block base."}
+{"subtask_index": 549, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand closes its fingers around the green cube to form a stable grasp."}
+{"subtask_index": 550, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift: Right hand lifts the green cube upward away from the black table surface."}
+{"subtask_index": 551, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: transport: Right hand carries the green cube toward the leftmost purple rod on the wooden base."}
+{"subtask_index": 552, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand aligns the green cube with the leftmost purple rod and inserts it onto the rod."}
+{"subtask_index": 553, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand adjusts fingers to form a stable grip on the green block placed on the black table."}
+{"subtask_index": 554, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it to the position above the leftmost purple peg on the wooden base."}
+{"subtask_index": 555, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand aligns the green block with the leftmost purple peg and inserts it down onto the peg to complete assembly."}
+{"subtask_index": 556, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the table surface."}
+{"subtask_index": 557, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block, adjusting grip to stabilize the object."}
+{"subtask_index": 558, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift: Right hand lifts the white hexagonal block upward until it completely leaves the table surface."}
+{"subtask_index": 559, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: transport: Right hand transports the white hexagonal block upward to the position above the leftmost purple rod on the wooden base."}
+{"subtask_index": 560, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: place: Right hand places the white hexagonal block downward onto the leftmost purple rod until the block is supported by the rod."}
+{"subtask_index": 561, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: press: Right hand presses the white hexagonal block downward along the purple rod to fix it in place."}
+{"subtask_index": 562, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the vertical post of the wooden base."}
+{"subtask_index": 563, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: release: Right hand releases the white hexagonal block placed on the post."}
+{"subtask_index": 564, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand reaches downward towards the white hexagonal block on the black tabletop."}
+{"subtask_index": 565, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black tabletop."}
+{"subtask_index": 566, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift: Right hand lifts the white hexagonal block from the black table surface."}
+{"subtask_index": 567, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: transport: Right hand transports the white hexagonal block towards the wooden rack with purple rods."}
+{"subtask_index": 568, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the leftmost purple rod of the wooden rack."}
+{"subtask_index": 569, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves downwards to reach the white hexagonal block placed on the table in front of the pegboard."}
+{"subtask_index": 570, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table."}
+{"subtask_index": 571, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand holds the white hexagonal block and aligns it to the purple post on the pegboard for assembly."}
+{"subtask_index": 572, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: release: Right hand opens its fingers to release the white hexagonal block on the purple post."}
+{"subtask_index": 573, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves towards the tilted white hexagonal block on the purple post."}
+{"subtask_index": 574, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand adjusts the tilted white hexagonal block and fits it properly onto the purple post."}
+{"subtask_index": 575, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table near the wooden rack."}
+{"subtask_index": 576, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it above the purple rod on the wooden rack."}
+{"subtask_index": 577, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it onto the rod."}
+{"subtask_index": 578, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: release: Right hand releases the white cylindrical block placed on the peg of the wooden base."}
+{"subtask_index": 579, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves downward toward the green square block on the black tabletop."}
+{"subtask_index": 580, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green square block on the black tabletop."}
+{"subtask_index": 581, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift: Right hand lifts the grasped green square block off the black tabletop."}
+{"subtask_index": 582, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: transport: Right hand carries the green square block toward the wooden base."}
+{"subtask_index": 583, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand aligns and fits the green square block onto the target peg of the wooden base."}
+{"subtask_index": 584, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: place: Right hand places the white cylindrical block onto the peg of the wooden base."}
+{"subtask_index": 585, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves downwards towards the white hexagonal block on the table surface."}
+{"subtask_index": 586, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the table surface."}
+{"subtask_index": 587, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it towards the wooden rack."}
+{"subtask_index": 588, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the target peg above the green block on the wooden rack."}
+{"subtask_index": 589, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: release: Right hand releases the white hexagonal block from its grip."}
+{"subtask_index": 590, "subtask": "Left hand: retreat: Left hand retreats upward from the area near the wooden base with stacked blocks to the left side of the table. | Right hand: reach: Right hand moves downward from the stacked blocks on the wooden base toward the upper white hexagonal block on the table surface."}
+{"subtask_index": 591, "subtask": "Left hand: idle: Left hand remains empty in the air at the left side without any observable movement. | Right hand: reach: Right hand moves downward from the stacked blocks on the wooden base toward the upper white hexagonal block on the table surface."}
+{"subtask_index": 592, "subtask": "Left hand: idle: Left hand remains empty in the air at the left side without any observable movement. | Right hand: grasp: Right hand adjusts its fingers to form a stable grip on the upper white hexagonal block on the table surface."}
+{"subtask_index": 593, "subtask": "Left hand: idle: Left hand remains empty in the air at the left side without any observable movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block and transports it towards the purple rod on the wooden base."}
+{"subtask_index": 594, "subtask": "Left hand: idle: Left hand remains empty in the air at the left side without any observable movement. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it onto the rod."}
+{"subtask_index": 595, "subtask": "Left hand: idle: Left hand remains empty in the air at the left side without any observable movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the rod adjacent to the purple rod."}
+{"subtask_index": 596, "subtask": "Left hand: idle: Left hand remains empty in the air at the left side without any observable movement. | Right hand: transport: Right hand transports the grasped white hexagonal block to above the target rod on the wooden base."}
+{"subtask_index": 597, "subtask": "Left hand: idle: Left hand remains empty in the air at the left side without any observable movement. | Right hand: mate: Right hand aligns the white hexagonal block with the target rod and inserts it onto the rod."}
+{"subtask_index": 598, "subtask": "Left hand: idle: Left hand remains empty in the air at the left side without any observable movement. | Right hand: place: Right hand places the white hexagonal block onto the top of the purple post fixed on the wooden base."}
+{"subtask_index": 599, "subtask": "Left hand: idle: Left hand remains empty in the air at the left side without any observable movement. | Right hand: reach: Right hand moves downward and toward the lower right area of the frame, approaching the white hexagonal block on the black table."}
+{"subtask_index": 600, "subtask": "Left hand: idle: Left hand remains empty in the air at the left side without any observable movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, with fingers closing to wrap around the block."}
+{"subtask_index": 601, "subtask": "Left hand: idle: Left hand remains empty in the air at the left side without any observable movement. | Right hand: lift: Right hand lifts the white ring from the table surface."}
+{"subtask_index": 602, "subtask": "Left hand: idle: Left hand remains empty in the air at the left side without any observable movement. | Right hand: transport: Right hand transports the white ring above the target pillar on the wooden rack."}
+{"subtask_index": 603, "subtask": "Left hand: idle: Left hand remains empty in the air at the left side without any observable movement. | Right hand: mate: Right hand mates the white ring onto the target pillar and adjusts its position to fit properly."}
+{"subtask_index": 604, "subtask": "Left hand: idle: Left hand remains empty in the air at the left side without any observable movement. | Right hand: release: Right hand releases the white ring placed on the pillar."}
+{"subtask_index": 605, "subtask": "Left hand: idle: Left hand remains empty in the air at the left side without any observable movement. | Right hand: reach: Right hand moves towards the green block on the lower right part of the desktop."}
+{"subtask_index": 606, "subtask": "Left hand: idle: Left hand remains empty in the air at the left side without any observable movement. | Right hand: reorient: Right hand adjusts the orientation and position of the green block on the desktop."}
+{"subtask_index": 607, "subtask": "Left hand: idle: Left hand remains empty in the air at the left side without any observable movement. | Right hand: retreat: Right hand moves slightly away from the green block."}
+{"subtask_index": 608, "subtask": "Left hand: idle: Left hand remains empty in the air at the left side without any observable movement. | Right hand: reorient: Right hand adjusts the position and orientation of the green block on the desktop."}
+{"subtask_index": 609, "subtask": "Left hand: idle: Left hand remains empty in the air at the left side without any observable movement. | Right hand: hold: Right hand holds the green block on the right side of the table without moving."}
+{"subtask_index": 610, "subtask": "Left hand: idle: Left hand remains empty in the air at the left side without any observable movement. | Right hand: lift: Right hand lifts the green block up away from the table surface."}
+{"subtask_index": 611, "subtask": "Left hand: idle: Left hand remains empty in the air at the left side without any observable movement. | Right hand: transport: Right hand transports the green block towards the top of the test tube rack."}
+{"subtask_index": 612, "subtask": "Left hand: idle: Left hand remains empty in the air at the left side without any observable movement. | Right hand: mate: Right hand mates the green block onto the rightmost white bottle on the test tube rack."}
+{"subtask_index": 613, "subtask": "Left hand: idle: Left hand remains empty in the air at the left side without any observable movement. | Right hand: release_retreat: Right hand releases the green block on the rightmost white bottle, then retreats slightly away from the test tube rack."}
+{"subtask_index": 614, "subtask": "Left hand: return_home: Left hand moves from its initial raised position to the left home position, adjusting its finger posture during movement. | Right hand: reach: Right hand moves from its initial right-side position down toward the green hexagonal block placed on the table in front of the wooden peg set, with fingers slightly open."}
+{"subtask_index": 615, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: reach: Right hand moves from its initial right-side position down toward the green hexagonal block placed on the table in front of the wooden peg set, with fingers slightly open."}
+{"subtask_index": 616, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand contacts the target green hexagonal block on the table, closes fingers and adjusts hand posture to establish a grasp on the block."}
+{"subtask_index": 617, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block off the table surface and moves it to the position above the purple peg on the wooden rack."}
+{"subtask_index": 618, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: mate: Right hand aligns the green hexagonal block with the purple peg on the wooden rack and lowers the block to fit it onto the peg."}
+{"subtask_index": 619, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand adjusts finger positions to close around and form a stable grasp on the white hexagonal block mounted on the wooden peg board."}
+{"subtask_index": 620, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward, fully separating it from the supporting peg on the wooden board."}
+{"subtask_index": 621, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: transport: Right hand carries the grasped white hexagonal block downward toward the empty black table surface in front of the peg board."}
+{"subtask_index": 622, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: place: Right hand lowers the white hexagonal block onto the black table surface, adjusting its position until it stands stably supported by the table."}
+{"subtask_index": 623, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: hold: Right hand holds the stably placed white hexagonal block on the table surface without observable movement of the hand or block."}
+{"subtask_index": 624, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand adjusts finger positions to form a stable grasp on the white hexagonal nut resting on the black table surface."}
+{"subtask_index": 625, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and transports it upward to the position above the purple rod mounted on the green base."}
+{"subtask_index": 626, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple rod and moves it downward to fit onto the rod, with slight finger adjustments to maintain alignment during insertion."}
+{"subtask_index": 627, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: place_release: Right hand lowers the white-topped cylindrical block onto the front purple rod of the wooden assembly base until the block rests stably on the base, opening fingers to release contact with the block."}
+{"subtask_index": 628, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: reach: Right hand moves empty downward across the table surface toward the green hexagonal block, approaching the target without making contact."}
+{"subtask_index": 629, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand contacts the green hexagonal block on the table surface, closing and adjusting finger positions to establish a grip on the block."}
+{"subtask_index": 630, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: hold: Right hand holds the white hexagonal nut resting on the black table surface without any visible movement."}
+{"subtask_index": 631, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: lift: Right hand moves upward to lift the grasped white hexagonal nut, fully separating it from the black table surface."}
+{"subtask_index": 632, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: transport: Right hand carries the lifted white hexagonal nut through the air, moving it upward and toward the wooden block assembly to position it above the target purple peg."}
+{"subtask_index": 633, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: mate_release: Right hand aligns the white hexagonal nut with the target purple wooden peg, slides it downward to seat it on the lower block, and opens fingers to release grasp on the nut."}
+{"subtask_index": 634, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: reach: Right hand moves downward from above the wooden assembly rack toward the white hexagonal block resting on the table in front of the rack, with fingers held in an open position."}
+{"subtask_index": 635, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand closes its fingers around the target white hexagonal block on the table, making small adjustments to finger contact points to form a stable grip while the block remains supported by the table surface."}
+{"subtask_index": 636, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward, fully separating the block from the table surface."}
+{"subtask_index": 637, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: transport: Right hand carries the lifted white hexagonal block upward and horizontally toward the purple vertical peg on the wooden assembly rack."}
+{"subtask_index": 638, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: mate: Right hand positions the white hexagonal block directly above the purple peg, making fine adjustments to align the block's central hole with the peg."}
+{"subtask_index": 639, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: place: Right hand lowers the white hexagonal block down along the purple peg until the block rests securely on the wooden assembly rack surface."}
+{"subtask_index": 640, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: release: Right hand releases the white hexagonal block placed on the purple peg, with fingers opening to separate from the block."}
+{"subtask_index": 641, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the table surface, approaching the target without making contact."}
+{"subtask_index": 642, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand contacts the green hexagonal block on the table, with fingers closing and making slight adjustments to form a stable grip on the block."}
+{"subtask_index": 643, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: lift_transport: Right hand lifts the stably grasped green hexagonal block off the table surface and transports it upward to a position directly above the purple peg on the wooden assembly base."}
+{"subtask_index": 644, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: mate: Right hand makes small continuous positional and rotational adjustments to the grasped green hexagonal block, aligning its central aperture with the purple vertical peg to seat the block onto the peg."}
+{"subtask_index": 645, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: release: Right hand opens fingers to release the white cylindrical block on the wooden stacking base."}
+{"subtask_index": 646, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: reach: Right hand moves downward with an empty hand toward the white hexagonal block placed on the dark table surface."}
+{"subtask_index": 647, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand adjusts finger positions and closes fingers around the white hexagonal block on the table to establish a stable grasp."}
+{"subtask_index": 648, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the dark table surface, transporting it upward and leftward to the position above the target rod on the wooden assembly base."}
+{"subtask_index": 649, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: mate: Right hand aligns the central hole of the held white hexagonal nut with the target vertical rod on the wooden assembly base, lowering the nut to fit it onto the rod as part of the assembly process."}
+{"subtask_index": 650, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: release: Right hand opens fingers to release the green hexagonal block on the wooden base, lifting fingers away from the block surface."}
+{"subtask_index": 651, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: reach: Right hand moves downward and rightward from above the wooden block base towards the white hexagonal nut on the table to the right of the base, with fingers slightly extended."}
+{"subtask_index": 652, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table to the right of the wooden base, making slight finger adjustments to establish grip on the nut."}
+{"subtask_index": 653, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward off the dark table surface."}
+{"subtask_index": 654, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: transport: Right hand moves the lifted white hexagonal block upward and horizontally to position it directly above the purple vertical rod on the wooden assembly."}
+{"subtask_index": 655, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: mate: Right hand makes small positional and rotational adjustments to the white hexagonal block to align its central hole with the purple vertical rod, fitting the block onto the rod."}
+{"subtask_index": 656, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: place: Right hand lowers the white hexagonal block down along the purple vertical rod until the block rests stably on the surface of the wooden base."}
+{"subtask_index": 657, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: reach: Right hand moves downward and rightward from the area near the wooden block rack toward the white hexagonal nut on the dark table surface, with fingers slightly open."}
+{"subtask_index": 658, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand makes contact with the white hexagonal nut on the table, fingers gradually close and adjust positions to form a grasp, with the nut remaining on the table surface."}
+{"subtask_index": 659, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: hold: Right hand holds the white hexagonal block stationary on the dark table surface."}
+{"subtask_index": 660, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and moves it upward to the position directly above the purple rod on the wooden block base."}
+{"subtask_index": 661, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and moves it downward to fit the block onto the rod."}
+{"subtask_index": 662, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: release: Right hand opens its fingers to release the white hexagonal block fitted on the purple rod."}
+{"subtask_index": 663, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: press: Right hand presses the purple top of the front white bottle on the wooden stand downward."}
+{"subtask_index": 664, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: reach: Right hand moves empty downward toward the green block placed on the lower right table surface."}
+{"subtask_index": 665, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand closes fingers around the green block on the lower right table surface to establish a grip."}
+{"subtask_index": 666, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand adjusts its grasp on the green block resting on the table, with fingers slightly tightening to stabilize contact with the block."}
+{"subtask_index": 667, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: lift_transport: Right hand lifts the green block completely off the table surface, then moves it upward and leftward to the position above the wooden bottle rack."}
+{"subtask_index": 668, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: mate: Right hand adjusts the position of the green block to align its central hole with the purple post on the bottle rack below."}
+{"subtask_index": 669, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: place: Right hand lowers the aligned green block down along the purple post until the block rests stably on the white bottle cap below."}
+{"subtask_index": 670, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: release: Right hand opens its fingers to release the green block, separating the fingers from the block surface."}
+{"subtask_index": 671, "subtask": "Left hand: other:spread_fingers: Left hand spreads its fingers at the left side of the table, with no obvious position change. | Right hand: reach: Right hand moves leftward and downward toward the green hexagonal part on the table in front of the peg board."}
+{"subtask_index": 672, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves leftward and downward toward the green hexagonal part on the table in front of the peg board."}
+{"subtask_index": 673, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand grasps the green hexagonal part on the table, with fingers closing and adjusting to form a stable grip."}
+{"subtask_index": 674, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: hold: Right hand holds the green hexagonal part on the table without moving."}
+{"subtask_index": 675, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand grasps the green hexagonal piece on the black table, adjusting its grip with fingers."}
+{"subtask_index": 676, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the green hexagonal piece from the black table and transports it upward to the position above the leftmost peg on the wooden base."}
+{"subtask_index": 677, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand mates the green hexagonal piece onto the leftmost peg of the wooden base, aligning and inserting it into position."}
+{"subtask_index": 678, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: hold: Right hand holds the green hexagonal piece fitted on the leftmost peg of the wooden base without moving."}
+{"subtask_index": 679, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate_release: Right hand mates the white hexagonal piece onto the green peg of the middle wooden base and releases the piece."}
+{"subtask_index": 680, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand reaches downward toward the white hexagonal piece on the black table surface."}
+{"subtask_index": 681, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand grasps the white hexagonal piece on the black table surface with fingers adjusting to form a stable grip."}
+{"subtask_index": 682, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: hold: Right hand holds the white hexagonal piece on the black table surface without moving."}
+{"subtask_index": 683, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand grasps the white hexagonal object on the black table surface, with fingers adjusting to form a stable grip."}
+{"subtask_index": 684, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal object from the table surface and transports it to the position above the leftmost front purple peg of the peg rack."}
+{"subtask_index": 685, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand mates the white hexagonal object onto the leftmost front purple peg by lowering it and fitting it into place."}
+{"subtask_index": 686, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: release: Right hand opens its fingers to release the green hexagonal piece on the purple rod of the wooden base."}
+{"subtask_index": 687, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves downward toward the white hexagonal object on the black table surface."}
+{"subtask_index": 688, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal object on the table."}
+{"subtask_index": 689, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: hold: Right hand holds the white hexagonal object on the table without moving."}
+{"subtask_index": 690, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand grasps the white hexagonal part on the black table, with fingers adjusting the grip."}
+{"subtask_index": 691, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal part from the black table and moves it toward the middle wooden rack."}
+{"subtask_index": 692, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand aligns the white hexagonal part with the front-left purple peg on the wooden rack and inserts it onto the peg, with slight position and orientation adjustments."}
+{"subtask_index": 693, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: press: Right hand presses the white hexagonal part down along the front-left purple peg to secure it."}
+{"subtask_index": 694, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: hold: Right hand holds the white hexagonal part on the front-left purple peg without moving."}
+{"subtask_index": 695, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand adjusts its grip on the white hexagonal part on the front-left purple peg, with fingers slightly repositioning."}
+{"subtask_index": 696, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: place_release: Right hand places the white hexagonal block onto the middle purple peg of the wooden base and releases the block."}
+{"subtask_index": 697, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table in front of the wooden base."}
+{"subtask_index": 698, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing around it."}
+{"subtask_index": 699, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: hold: Right hand holds the white hexagonal block on the table without moving."}
+{"subtask_index": 700, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface, with fingers closing and adjusting to form a stable grip."}
+{"subtask_index": 701, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it upward and leftward to the position above the purple peg of the wooden rack."}
+{"subtask_index": 702, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand mates the white hexagonal block with the purple peg by aligning the block's hole with the peg and inserting it downwards."}
+{"subtask_index": 703, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift: Right hand lifts the white hexagonal block slightly upward along the purple peg."}
+{"subtask_index": 704, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: place: Right hand places the white hexagonal block downward along the purple peg until it is supported by the peg."}
+{"subtask_index": 705, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: hold: Right hand holds the white hexagonal block on the purple peg without any movement."}
+{"subtask_index": 706, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: place_release: Right hand places the white hexagonal piece onto the base of the front-right purple peg and opens fingers to release the grip."}
+{"subtask_index": 707, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves downward toward the green hexagonal piece on the black table."}
+{"subtask_index": 708, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand grasps the green hexagonal piece on the table, with fingers closing around the piece to form a grip."}
+{"subtask_index": 709, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: hold: Right hand holds the green hexagonal piece on the black table without moving."}
+{"subtask_index": 710, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand grasps the green hollow hexagonal block on the black table surface, with fingers closing to adjust and form a stable grip."}
+{"subtask_index": 711, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the green hollow hexagonal block off the table and transports it to the position above the middle purple peg on the wooden base."}
+{"subtask_index": 712, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand aligns the green hollow hexagonal block with the middle purple peg and slides the block down along the peg to complete the assembly."}
+{"subtask_index": 713, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate_release: Right hand mates the purple rod with the green block on the wooden base and releases the rod."}
+{"subtask_index": 714, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table below the wooden base."}
+{"subtask_index": 715, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers adjusting to stabilize the grip."}
+{"subtask_index": 716, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the black table and moves it towards the wooden pegboard in the middle of the table."}
+{"subtask_index": 717, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand mates the white hexagonal block with the purple vertical peg on the wooden pegboard, adjusting the block to fit onto the peg."}
+{"subtask_index": 718, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple peg without moving."}
+{"subtask_index": 719, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: release: Right hand releases the white cylindrical block on the stacked blocks, with fingers opening and separating from the block."}
+{"subtask_index": 720, "subtask": "Left hand: reach: Left hand moves upward and rightward toward the stacked blocks on the wooden base. | Right hand: reach: Right hand moves downward and rightward toward the white hexagonal block on the table surface."}
+{"subtask_index": 721, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the frame without moving. | Right hand: reach: Right hand moves downward and rightward toward the white hexagonal block on the table surface."}
+{"subtask_index": 722, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the frame without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing and adjusting to stabilize the grip."}
+{"subtask_index": 723, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the frame without moving. | Right hand: hold_lift: Right hand holds the white hexagonal block still on the table first, then lifts it slightly off the table surface."}
+{"subtask_index": 724, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the frame without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal ring from the right table surface and transports it left-upward to the top of the purple rod."}
+{"subtask_index": 725, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the frame without moving. | Right hand: mate_release: Right hand aligns the white hexagonal ring with the purple rod, fits it onto the rod with slight position adjustments, and releases the ring."}
+{"subtask_index": 726, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the frame without moving. | Right hand: reach: Right hand reaches leftward toward the white hexagonal ring on the adjacent white pillar."}
+{"subtask_index": 727, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the frame without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal ring on top of the white pillar."}
+{"subtask_index": 728, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the frame without moving. | Right hand: lift: Right hand lifts the white hexagonal ring upward off the white pillar."}
+{"subtask_index": 729, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the frame without moving. | Right hand: transport: Right hand transports the white hexagonal ring rightward to the top of the purple rod."}
+{"subtask_index": 730, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the frame without moving. | Right hand: mate_release: Right hand aligns the white hexagonal ring with the purple rod, fits it onto the rod with slight adjustments, and releases the ring."}
+{"subtask_index": 731, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the frame without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal ring on the purple rod."}
+{"subtask_index": 732, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the frame without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal ring on the purple rod."}
+{"subtask_index": 733, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the frame without moving. | Right hand: press: Right hand presses the white hexagonal ring downward along the purple rod."}
+{"subtask_index": 734, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the frame without moving. | Right hand: release: Right hand releases the white hexagonal block at the top-right of the wooden base, with fingers opening to separate from the block."}
+{"subtask_index": 735, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the frame without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the black table, keeping fingers slightly open."}
+{"subtask_index": 736, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the frame without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, with fingers closing around the block to adjust the grip."}
+{"subtask_index": 737, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the frame without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and transports it towards the purple peg on the wooden block rack."}
+{"subtask_index": 738, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the frame without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple peg on the wooden rack, adjusting the block's position along the peg continuously."}
+{"subtask_index": 739, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the frame without moving. | Right hand: release: Right hand releases the white cylindrical block with purple top on the wooden base, fingers gradually opening and separating from the block."}
+{"subtask_index": 740, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the frame without moving. | Right hand: reach: Right hand reaches towards the green cubic block on the dark table surface, moving down and right."}
+{"subtask_index": 741, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the frame without moving. | Right hand: grasp: Right hand grasps the green cubic block on the dark table surface, fingers closing around the block to adjust the grip."}
+{"subtask_index": 742, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the frame without moving. | Right hand: lift_transport: Right hand lifts the green block off the table surface and transports it leftward to the top of the rightmost white post on the wooden rack."}
+{"subtask_index": 743, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the frame without moving. | Right hand: mate: Right hand aligns the green block with the rightmost white post and lowers it onto the post, making small position adjustments to fit the block."}
+{"subtask_index": 744, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the frame without moving. | Right hand: lift: Right hand lifts the green block upward away from the rightmost white post for repositioning."}
+{"subtask_index": 745, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the frame without moving. | Right hand: mate: Right hand realigns the green block with the rightmost white post and lowers it fully onto the post, adjusting until the block is properly seated."}
+{"subtask_index": 746, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the frame without moving. | Right hand: release: Right hand releases the green block on the rightmost white post, with fingers opening and separating from the block."}
+{"subtask_index": 747, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves towards the green hexagonal block located on the black table below the wooden peg base."}
+{"subtask_index": 748, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand adjusts its fingers to grasp the green hexagonal block on the black table."}
+{"subtask_index": 749, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it to above the leftmost purple rod of the wooden rack."}
+{"subtask_index": 750, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand aligns the green block with the leftmost purple rod and inserts it onto the rod."}
+{"subtask_index": 751, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: press: Right hand presses the green block down along the purple rod to the bottom of the wooden rack."}
+{"subtask_index": 752, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: place: Right hand places the white hexagonal block onto the green post fixed on the wooden base."}
+{"subtask_index": 753, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves downward towards the white hexagonal block lying on the black tabletop."}
+{"subtask_index": 754, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the black tabletop."}
+{"subtask_index": 755, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it towards the leftmost purple rod on the wooden base."}
+{"subtask_index": 756, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand aligns the white hexagonal block with the leftmost purple rod and inserts it onto the rod."}
+{"subtask_index": 757, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: press: Right hand presses the white hexagonal block down along the purple rod to fix it in position."}
+{"subtask_index": 758, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand mates the white cylindrical sleeve onto the leftmost purple peg on the wooden base."}
+{"subtask_index": 759, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: retreat: Right hand retreats downward away from the wooden peg base."}
+{"subtask_index": 760, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand reaches toward the white hexagonal sleeve on the black tabletop."}
+{"subtask_index": 761, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand grasps the white hexagonal hollow block on the black table, with fingers closing to adjust the grip."}
+{"subtask_index": 762, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal hollow block from the table and transports it towards the purple rod on the wooden rack."}
+{"subtask_index": 763, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand mates the white hexagonal hollow block onto the purple rod of the wooden rack, adjusting to fit it into place."}
+{"subtask_index": 764, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: release: Right hand releases the white cylindrical block placed on the purple rod, fingers open to separate from the block."}
+{"subtask_index": 765, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves downward towards the white cylindrical block on the black table surface."}
+{"subtask_index": 766, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand contacts the white cylindrical block on the table, fingers start to close to form a stable grasp."}
+{"subtask_index": 767, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it to the position above the purple rod on the wooden base."}
+{"subtask_index": 768, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it onto the rod to complete assembly."}
+{"subtask_index": 769, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: place: Right hand places the white ring onto the purple rod fixed on the wooden base."}
+{"subtask_index": 770, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves downward toward the green square block placed on the table surface."}
+{"subtask_index": 771, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand grasps the green square block on the table surface, with fingers adjusting to form a stable grip."}
+{"subtask_index": 772, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it towards the purple rod on the wooden rack."}
+{"subtask_index": 773, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand aligns the green block with the purple rod on the wooden rack and fits the block onto the rod."}
+{"subtask_index": 774, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: place_release: Right hand places the green block onto the peg of the wooden base and releases it."}
+{"subtask_index": 775, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves downwards towards the white hexagonal block on the black tabletop."}
+{"subtask_index": 776, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand adjusts fingers to grasp the white hexagonal block on the black tabletop."}
+{"subtask_index": 777, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal object off the table and transports it toward the wooden rack."}
+{"subtask_index": 778, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand aligns the white hexagonal object with the target purple rod on the wooden rack."}
+{"subtask_index": 779, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: press: Right hand presses the white hexagonal object down onto the purple rod to secure the assembly."}
+{"subtask_index": 780, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: place: Right hand places the white cylindrical sleeve onto the purple rod of the wooden base."}
+{"subtask_index": 781, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves toward the white cylindrical sleeve on the black table surface."}
+{"subtask_index": 782, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand closes fingers to grasp the white cylindrical sleeve on the black table surface."}
+{"subtask_index": 783, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it towards the purple rod on the wooden base."}
+{"subtask_index": 784, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod on the wooden base."}
+{"subtask_index": 785, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: idle: Right hand remains empty near the wooden base without moving."}
+{"subtask_index": 786, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: release: Right hand releases the white block on the purple rod of the wooden base."}
+{"subtask_index": 787, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block placed on the table."}
+{"subtask_index": 788, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table."}
+{"subtask_index": 789, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: transport: Right hand transports the white ring object from the right table surface towards the wooden block rack."}
+{"subtask_index": 790, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: place: Right hand places the white ring object onto the corresponding post on the wooden block rack and adjusts its position slightly."}
+{"subtask_index": 791, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: release: Right hand releases the white ring object placed on the wooden block rack post."}
+{"subtask_index": 792, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand reaches towards the green block on the table surface."}
+{"subtask_index": 793, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand grasps the green block on the table, adjusting fingers to form a stable grip."}
+{"subtask_index": 794, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the green block from the table and transports it above the white bottle with a purple rod."}
+{"subtask_index": 795, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand aligns the green block with the purple rod of the white bottle to attempt insertion, until the green block falls onto the table."}
+{"subtask_index": 796, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves toward the green block that dropped on the table."}
+{"subtask_index": 797, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand grasps the green block on the table."}
+{"subtask_index": 798, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reorient: Right hand rotates the green block to adjust its orientation, making the hole face upward."}
+{"subtask_index": 799, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the adjusted green block from the table and transports it above the white bottle with the purple rod."}
+{"subtask_index": 800, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand aligns the hole of the green block with the purple rod and inserts the block onto the rod."}
+{"subtask_index": 801, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: press: Right hand presses the green block down to fully fit it onto the white bottle."}
+{"subtask_index": 802, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: idle: Right hand remains empty at the right initial position with extended fingers, without any observable movement."}
+{"subtask_index": 803, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: reach: Right hand moves downward and leftward toward the green hexagonal block on the table surface, with fingers adjusting slightly during movement."}
+{"subtask_index": 804, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: grasp: Right hand makes contact with the green hexagonal block on the table, fingers close and make slight adjustments to establish a grip on the block."}
+{"subtask_index": 805, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: lift: Right hand moves vertically upwards to lift the gripped green hexagonal block until the block is fully separated from the table surface."}
+{"subtask_index": 806, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: transport: Right hand moves the lifted green hexagonal block upwards and toward the wooden peg base to position the block over the target purple vertical peg."}
+{"subtask_index": 807, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the target purple peg, lowers the block onto the peg, and makes small positional adjustments to seat the block on the rod."}
+{"subtask_index": 808, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: reach: Right hand moves downward from the wooden peg rack toward the closest white hexagonal block on the black table surface."}
+{"subtask_index": 809, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: grasp: Right hand contacts the white hexagonal block, closes fingers around the block, and makes slight adjustments to finger placement and block orientation to secure a stable grip."}
+{"subtask_index": 810, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table and moves it upward to position above the target green post on the wooden block assembly."}
+{"subtask_index": 811, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the target green post and lowers the nut to fit onto the post."}
+{"subtask_index": 812, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: mate_release: Right hand aligns the white cylindrical block with the purple vertical peg on the wooden base, mates the block onto the peg and releases the block."}
+{"subtask_index": 813, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: reach: Right hand moves downwards empty-handed to approach the white hexagonal block placed on the black table surface."}
+{"subtask_index": 814, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: grasp: Right hand adjusts finger positions and closes fingers around the white hexagonal block on the table to establish a stable grasp."}
+{"subtask_index": 815, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block completely off the table surface and moves it upward toward the wooden peg rack."}
+{"subtask_index": 816, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the green peg on the wooden rack, adjusting position slightly while lowering the block to fit onto the peg."}
+{"subtask_index": 817, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: reach: Right hand moves downward from the upper area of the wooden block assembly toward the white hexagonal block resting on the table surface in front of the assembly, keeping fingers slightly open as it approaches the target block."}
+{"subtask_index": 818, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, making small adjustments to finger contact points to establish a stable grip on the block while the block remains on the table surface."}
+{"subtask_index": 819, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block completely off the table surface while moving the block upward toward the empty purple vertical rod mounted on the wooden assembly base."}
+{"subtask_index": 820, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: mate: Right hand adjusts the orientation and position of the held white hexagonal block to align its central hole with the top of the purple rod, fitting the block over the rod to form the assembly connection."}
+{"subtask_index": 821, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: place: Right hand lowers the mated white hexagonal block down along the purple rod until the block rests stably on the wooden base of the assembly, maintaining contact with the block as it settles."}
+{"subtask_index": 822, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: reach: Right hand moves downward from the position above the wooden block assembly stand toward the green hexagonal block placed on the dark table surface, with fingers extended open as it approaches the target block."}
+{"subtask_index": 823, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: grasp: Right hand closes fingers around the green hexagonal block on the table, making slight adjustments to finger contact positions to establish a stable grip on the block while the block remains on the table surface."}
+{"subtask_index": 824, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: lift_transport: Right hand lifts the gripped green hexagonal block completely off the table surface, moves the block upward and leftward toward the wooden assembly stand, and positions the block above an empty purple peg on the stand."}
+{"subtask_index": 825, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the target purple peg, lowers the block to fit it onto the peg, and makes small positional adjustments to properly seat the block on the peg."}
+{"subtask_index": 826, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: place_release: Right hand holds the white cylindrical block, lowers it onto the green block on the wooden base, opening fingers to release the stably supported block."}
+{"subtask_index": 827, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: reach: Right hand moves downward with empty hand from the wooden base area toward the green block placed on the black table surface."}
+{"subtask_index": 828, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: grasp: Right hand makes contact with the green block on the table, adjusting finger and wrist positions continuously to form a stable grasp of the block."}
+{"subtask_index": 829, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: lift: Right hand holds the white hexagonal block resting on the dark table surface, lifts the block upward until it is fully separated from the table."}
+{"subtask_index": 830, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: transport: Right hand carries the lifted white hexagonal block through the air, moving it toward the wooden peg base until it is positioned above the purple rod."}
+{"subtask_index": 831, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: mate: Right hand adjusts the position and orientation of the white hexagonal block, aligning its central hole with the purple rod on the wooden base to fit the block onto the rod."}
+{"subtask_index": 832, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: place_release: Right hand holds the final white cylindrical block, places it into the matching hole on the wooden base, releases the block as fingers open to separate from the block surface."}
+{"subtask_index": 833, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: reach: Right hand moves in an empty state downward toward the upper white hexagonal nut on the table, approaching the target without making physical contact."}
+{"subtask_index": 834, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: grasp: Right hand makes contact with the upper white hexagonal nut, closes fingers around the nut, and makes small adjustments to establish a stable grip."}
+{"subtask_index": 835, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and moves it upward to the position directly above the purple rod on the stacked block assembly."}
+{"subtask_index": 836, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: mate: Right hand makes small wrist and finger adjustments to the white hexagonal block's position and orientation to align its central hole with the purple rod on the assembly base."}
+{"subtask_index": 837, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: place: Right hand lowers the aligned white hexagonal block down the purple rod until it rests stably on the top of the existing stacked blocks, maintaining contact with the block."}
+{"subtask_index": 838, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: idle: Right hand remains empty above the wooden block assembly without observable movement."}
+{"subtask_index": 839, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: reach: Right hand moves down and right toward the white hexagonal block on the dark table surface while remaining empty."}
+{"subtask_index": 840, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: grasp: Right hand closes its fingers around the white hexagonal block on the table to establish a stable grasp."}
+{"subtask_index": 841, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block completely off the table surface and transports it upward and leftward to the position directly above the empty purple peg on the wooden stand."}
+{"subtask_index": 842, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: mate: Right hand adjusts the position and orientation of the white hexagonal block to align its central hole with the purple peg, lowering the block to fit onto the peg."}
+{"subtask_index": 843, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: release: Right hand releases the white cylindrical block on the wooden base, fingers opening to separate from the block top."}
+{"subtask_index": 844, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: reach: Right hand moves downward toward the green square block placed on the black table surface."}
+{"subtask_index": 845, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: grasp: Right hand adjusts finger positions to grasp the green square block on the table surface."}
+{"subtask_index": 846, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: lift_transport: Right hand lifts the grasped green block off the dark table surface and moves it upward to position directly above the empty target peg on the wooden block stand."}
+{"subtask_index": 847, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: mate: Right hand aligns the hollow hole of the grasped green block with the target white peg on the wooden stand, lowers the block to fit it securely onto the peg while making small positional adjustments."}
+{"subtask_index": 848, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: release: Right hand opens fingers to release the green block fitted on the peg, fully breaking contact with the block surface."}
+{"subtask_index": 849, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: retreat: Right hand moves the empty hand backward, moving away from the area of the wooden block stand."}
+{"subtask_index": 850, "subtask": "Left hand: other:adjust_pose: Left hand adjusts its pose at the left side of the table, with fingers bending slightly and wrist rotating inward. | Right hand: reach: Right hand moves leftward from the right side of the table toward the green hexagonal block on the table in front of the wooden base."}
+{"subtask_index": 851, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves leftward from the right side of the table toward the green hexagonal block on the table in front of the wooden base."}
+{"subtask_index": 852, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers closing around the block to form a stable grip."}
+{"subtask_index": 853, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_mate: Right hand lifts the green hexagonal block off the table and fits the block onto the leftmost purple rod of the wooden base."}
+{"subtask_index": 854, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cube on the table beside the wooden peg base, with fingers closing to secure the grip."}
+{"subtask_index": 855, "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 green cube off the table and transports it above the leftmost purple peg on the wooden base."}
+{"subtask_index": 856, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green cube onto the leftmost purple peg by aligning and lowering it into place."}
+{"subtask_index": 857, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green cube fitted on the leftmost purple peg without moving."}
+{"subtask_index": 858, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white cylindrical block onto the purple peg on the wooden base and releases it."}
+{"subtask_index": 859, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp_push: Right hand grasps the white hexagonal block on the table and pushes it slightly leftward."}
+{"subtask_index": 860, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold_release: Right hand holds the white hexagonal block on the table and releases it."}
+{"subtask_index": 861, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: idle: Right hand remains empty above the table without moving."}
+{"subtask_index": 862, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves rightward toward the green hexagonal block on the black table surface."}
+{"subtask_index": 863, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal nut on the table, with fingers adjusting to form a stable grip."}
+{"subtask_index": 864, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts and transports the white hexagonal nut from the table to the position above the upper left peg of the pegboard."}
+{"subtask_index": 865, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal nut onto the upper left peg of the pegboard by lowering and fitting it onto the peg."}
+{"subtask_index": 866, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white sleeve onto the leftmost purple vertical peg by pushing it upward and releases the sleeve."}
+{"subtask_index": 867, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal part on the black table near the bottom center."}
+{"subtask_index": 868, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal part on the black table near the bottom center with fingers closing around it."}
+{"subtask_index": 869, "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 white hexagonal block off the table and transports it upward and rightward toward the wooden peg rack."}
+{"subtask_index": 870, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the front-left peg of the wooden rack by aligning the block's hole with the peg and lowering the block along the peg."}
+{"subtask_index": 871, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal part on the leftmost peg of the wooden base, with fingers opening from a closed position."}
+{"subtask_index": 872, "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 white hexagonal part on the black table surface, with fingers kept open."}
+{"subtask_index": 873, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal part on the black table surface, with fingers adjusting to form a stable grip."}
+{"subtask_index": 874, "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 white hexagonal block off the table and transports it toward the middle purple peg on the wooden base."}
+{"subtask_index": 875, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the middle purple peg and adjusts its position to fit the block onto the peg."}
+{"subtask_index": 876, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block, which falls from the middle purple peg to the table surface."}
+{"subtask_index": 877, "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 white hexagonal block that fell on the table surface."}
+{"subtask_index": 878, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface, adjusting its grip with fingers."}
+{"subtask_index": 879, "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 white hexagonal block off the table and transports it toward the right purple peg on the wooden base."}
+{"subtask_index": 880, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the right purple peg and adjusts its position to fit the block onto the peg."}
+{"subtask_index": 881, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block from above the right purple peg to above the middle purple peg."}
+{"subtask_index": 882, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press_release: Right hand presses down the white ring on the rightmost purple peg of the wooden base before releasing it with opening fingers."}
+{"subtask_index": 883, "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 green hexagonal block on the black table surface while keeping empty."}
+{"subtask_index": 884, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table with fingers closing to form a stable grip."}
+{"subtask_index": 885, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green hexagonal block upward until it fully leaves the black table surface."}
+{"subtask_index": 886, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green hexagonal block upward to the position above the middle purple peg of the wooden base."}
+{"subtask_index": 887, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the middle purple peg of the wooden base by aligning the block's hole with the peg and lowering the block."}
+{"subtask_index": 888, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand fits the white cylindrical block onto the peg of the wooden base and releases its grip."}
+{"subtask_index": 889, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the dark table surface."}
+{"subtask_index": 890, "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 around the white hexagonal block on the dark table surface to form a stable grip."}
+{"subtask_index": 891, "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 white hexagonal nut off the table and transports it upward and leftward toward the purple rod on the wooden base."}
+{"subtask_index": 892, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal nut with the purple rod by aligning the nut's hole with the rod and lowering it onto the rod."}
+{"subtask_index": 893, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal nut on the purple rod without moving."}
+{"subtask_index": 894, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white block on the purple rod of the wooden base, with fingers opening to separate from the block."}
+{"subtask_index": 895, "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 rightward to approach the upper white hexagonal block on the table."}
+{"subtask_index": 896, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the upper white hexagonal block on the table, with fingers adjusting to form a stable grip."}
+{"subtask_index": 897, "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 white hexagonal block from the table and transports it towards the purple rod on the wooden tray."}
+{"subtask_index": 898, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white hexagonal block onto the purple rod and releases it, making the block fall onto the table surface."}
+{"subtask_index": 899, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downwards to approach the lower white hexagonal block on the table."}
+{"subtask_index": 900, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the lower white hexagonal block on the table, with fingers adjusting to form a stable grip."}
+{"subtask_index": 901, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and fits it onto the rod, adjusting the position slightly."}
+{"subtask_index": 902, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand fits the white ring onto the purple vertical peg and releases its grip on the ring."}
+{"subtask_index": 903, "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 white hexagonal block on the dark table surface."}
+{"subtask_index": 904, "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 around the white hexagonal block on the table to establish a grasp."}
+{"subtask_index": 905, "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 white hollow cube from the black table and transports it upward and leftward to the top of the purple rod on the wooden base."}
+{"subtask_index": 906, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hollow cube with the purple rod by lowering it onto the rod to complete the fitting."}
+{"subtask_index": 907, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hollow cube fitted on the purple rod without moving."}
+{"subtask_index": 908, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the purple rod placed in the rightmost white bottle on the wooden rack."}
+{"subtask_index": 909, "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 rightward toward the green cubic block on the dark table surface."}
+{"subtask_index": 910, "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 grasp the green cubic block on the dark table surface."}
+{"subtask_index": 911, "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 green hollow cubic block off the table and transports it to the position above the bottle with a purple top on the wooden rack."}
+{"subtask_index": 912, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green hollow cubic block with the purple top of the bottle, fits it onto the bottle, and makes slight up-and-down adjustments to the assembly position."}
+{"subtask_index": 913, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hollow cubic block on the top of the purple-topped bottle without moving."}
+{"subtask_index": 914, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: reach: Right hand moves forward towards the leftmost white cylindrical part on the wooden base."}
+{"subtask_index": 915, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the leftmost white cylindrical part on the wooden base."}
+{"subtask_index": 916, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: pull: Right hand pulls the grasped white cylindrical part downwards along the purple rod."}
+{"subtask_index": 917, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: lift: Right hand lifts the green hexagonal block from the black table surface."}
+{"subtask_index": 918, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: transport: Right hand transports the green hexagonal block above the leftmost peg of the wooden rack."}
+{"subtask_index": 919, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the leftmost peg of the wooden rack by aligning and pressing it down."}
+{"subtask_index": 920, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: release: Right hand releases the green hexagonal block from its grasp."}
+{"subtask_index": 921, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: reach: Right hand moves downward from the wooden rack towards the white hexagonal block on the black table."}
+{"subtask_index": 922, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the black table."}
+{"subtask_index": 923, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it to the position above the target purple post on the wooden rack."}
+{"subtask_index": 924, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple post and fits it onto the post until it is properly placed."}
+{"subtask_index": 925, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: release: Right hand releases the white hexagonal block on the purple peg of the wooden base by opening fingers."}
+{"subtask_index": 926, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: reach: Right hand moves down towards the white hexagonal block on the black tabletop with empty hand."}
+{"subtask_index": 927, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black tabletop with fingers closing around it."}
+{"subtask_index": 928, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: lift: Right hand lifts the white hexagonal block off the black table surface."}
+{"subtask_index": 929, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: transport: Right hand transports the white hexagonal block towards the wooden rack with purple rods."}
+{"subtask_index": 930, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the leftmost purple rod of the wooden rack, aligning and inserting it downwards."}
+{"subtask_index": 931, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: release: Right hand releases the white cylindrical block placed on the purple rod."}
+{"subtask_index": 932, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: reach: Right hand reaches downward toward the white cylindrical block on the black table surface."}
+{"subtask_index": 933, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface."}
+{"subtask_index": 934, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it towards the wooden base with vertical pegs."}
+{"subtask_index": 935, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand aligns the inner hole of the white hexagonal block with the target vertical peg on the wooden base."}
+{"subtask_index": 936, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: place: Right hand lowers the white hexagonal block onto the target peg until it is fully seated on the base."}
+{"subtask_index": 937, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: place_release: Right hand places the white ring onto the purple rod on the wooden base and releases the ring."}
+{"subtask_index": 938, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: reach: Right hand moves downward towards the green block on the black table surface."}
+{"subtask_index": 939, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand adjusts fingers to form a stable grasp on the green block on the table."}
+{"subtask_index": 940, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it towards the peg on the wooden tray."}
+{"subtask_index": 941, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand aligns the green block with the target peg and inserts it down onto the peg."}
+{"subtask_index": 942, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: release: Right hand opens its fingers to release the green block."}
+{"subtask_index": 943, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: place: Right hand places the white ring onto the peg on the wooden base."}
+{"subtask_index": 944, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: reach: Right hand moves downward toward the white ring on the black table surface."}
+{"subtask_index": 945, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it towards the wooden peg board."}
+{"subtask_index": 946, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple peg of the wooden board."}
+{"subtask_index": 947, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: reach: Right hand reaches towards the upper white cylindrical sleeve placed on the black table to the right of the wooden base."}
+{"subtask_index": 948, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand grasps the upper white cylindrical sleeve on the black table."}
+{"subtask_index": 949, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp_lift: Right hand grasps the white hexagonal block on the table and lifts it off the table surface."}
+{"subtask_index": 950, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: transport: Right hand transports the white hexagonal block towards the purple rod on the wooden base."}
+{"subtask_index": 951, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it onto the rod."}
+{"subtask_index": 952, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: press: Right hand presses the white hexagonal block down along the purple rod until it reaches the bottom."}
+{"subtask_index": 953, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: release_retreat: Right hand releases the white hexagonal block and retreats slightly away from the rod."}
+{"subtask_index": 954, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block placed on the black table surface."}
+{"subtask_index": 955, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand closes its fingers to form a stable grasp on the white hexagonal block."}
+{"subtask_index": 956, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it to the position above the purple peg on the wooden rack."}
+{"subtask_index": 957, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg and mates the block onto the peg by pushing it downward."}
+{"subtask_index": 958, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: release_retreat: Right hand releases the white hexagonal block and retreats upward away from the wooden rack."}
+{"subtask_index": 959, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: release: Right hand releases the white bottle on the wooden board, fingers open to separate from the bottle."}
+{"subtask_index": 960, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: reach: Right hand moves downward toward the green square block on the black table surface."}
+{"subtask_index": 961, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand grasps the green square block on the table, fingers close around the block to form a stable grip."}
+{"subtask_index": 962, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it towards the white bottle rack."}
+{"subtask_index": 963, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand aligns the green block with the protruding rod on the first target white bottle for assembly."}
+{"subtask_index": 964, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: lift_transport: Right hand lifts the green block from the first bottle and transports it to the second target white bottle."}
+{"subtask_index": 965, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate_press: Right hand aligns the green block with the rod on the second white bottle and presses it down to fit tightly."}
+{"subtask_index": 966, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: release_retreat: Right hand releases the green block and retreats away from the bottle rack."}
+{"subtask_index": 967, "subtask": "Left hand: idle: Left hand remains empty on the left side of the table, keeping static with no visible movement or contact with any operated object. | Right hand: reach: Right hand moves from the right initial position downward and toward the green hexagonal block placed at the front left of the wooden peg rack, staying empty without contacting the target."}
+{"subtask_index": 968, "subtask": "Left hand: idle: Left hand remains empty on the left side of the table, keeping static with no visible movement or contact with any operated object. | Right hand: grasp: Right hand positions fingers around the target green hexagonal block on the table, adjusting finger contact and closing gradually to establish a stable grasp, with the block remaining on the table surface."}
+{"subtask_index": 969, "subtask": "Left hand: idle: Left hand remains empty on the left side of the table, keeping static with no visible movement or contact with any operated object. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block completely off the black table surface, moving it through the air to position the block directly above the target purple peg on the wooden peg board."}
+{"subtask_index": 970, "subtask": "Left hand: idle: Left hand remains empty on the left side of the table, keeping static with no visible movement or contact with any operated object. | Right hand: mate: Right hand adjusts the position and orientation of the green hexagonal block to align its central hole with the target purple peg, making small fine positional adjustments while lowering the block to fit onto the peg."}
+{"subtask_index": 971, "subtask": "Left hand: idle: Left hand remains empty on the left side of the table, keeping static with no visible movement or contact with any operated object. | Right hand: place: Right hand lowers the green hexagonal block fully onto the wooden peg board surface until the block is stably supported by the board, maintaining grip on the block."}
+{"subtask_index": 972, "subtask": "Left hand: idle: Left hand remains empty on the left side of the table, keeping static with no visible movement or contact with any operated object. | Right hand: place_release: Right hand lowers the white cylindrical block onto the purple peg of the wooden base to rest on the green block below, and releases the block."}
+{"subtask_index": 973, "subtask": "Left hand: idle: Left hand remains empty on the left side of the table, keeping static with no visible movement or contact with any operated object. | Right hand: reach: Right hand moves downward through empty space toward the white hexagonal nut placed on the black table surface."}
+{"subtask_index": 974, "subtask": "Left hand: idle: Left hand remains empty on the left side of the table, keeping static with no visible movement or contact with any operated object. | Right hand: grasp: Right hand brings fingers into contact with the white hexagonal nut, closing fingers and making small positional adjustments to form a grasp."}
+{"subtask_index": 975, "subtask": "Left hand: idle: Left hand remains empty on the left side of the table, keeping static with no visible movement or contact with any operated object. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the table surface and transports it upward to the position above the purple rod on the wooden assembly block."}
+{"subtask_index": 976, "subtask": "Left hand: idle: Left hand remains empty on the left side of the table, keeping static with no visible movement or contact with any operated object. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple rod on the wooden block, lowers the nut to fit onto the rod, and makes slight positional adjustments to seat the nut properly."}
+{"subtask_index": 977, "subtask": "Left hand: idle: Left hand remains empty on the left side of the table, keeping static with no visible movement or contact with any operated object. | Right hand: reach: Right hand moves downward from the position above the wooden block rack toward the white hexagonal nut on the black table, staying empty before contacting the target nut."}
+{"subtask_index": 978, "subtask": "Left hand: idle: Left hand remains empty on the left side of the table, keeping static with no visible movement or contact with any operated object. | Right hand: grasp: Right hand closes fingers around the target white hexagonal nut on the table, adjusting finger contact points to establish a grip on the nut."}
+{"subtask_index": 979, "subtask": "Left hand: idle: Left hand remains empty on the left side of the table, keeping static with no visible movement or contact with any operated object. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block clear of the table surface and moves it upward through the air to position above an empty purple peg mounted on the wooden base."}
+{"subtask_index": 980, "subtask": "Left hand: idle: Left hand remains empty on the left side of the table, keeping static with no visible movement or contact with any operated object. | Right hand: mate: Right hand makes small positional and rotational adjustments to the grasped white hexagonal block to align its central hole with the target purple peg, guiding the block downward to fit onto the peg."}
+{"subtask_index": 981, "subtask": "Left hand: idle: Left hand remains empty on the left side of the table, keeping static with no visible movement or contact with any operated object. | Right hand: place_release: Right hand holds the white hexagonal block, moves it downward to seat it on the purple peg of the wooden assembly base, releasing the block once it rests stably on the peg."}
+{"subtask_index": 982, "subtask": "Left hand: idle: Left hand remains empty on the left side of the table, keeping static with no visible movement or contact with any operated object. | Right hand: reach: Right hand moves while empty downward toward the white hexagonal block resting on the black table surface in front of the wooden assembly base."}
+{"subtask_index": 983, "subtask": "Left hand: idle: Left hand remains empty on the left side of the table, keeping static with no visible movement or contact with any operated object. | Right hand: grasp: Right hand adjusts finger positions to close around and form a stable grasp on the white hexagonal nut resting on the black table surface."}
+{"subtask_index": 984, "subtask": "Left hand: idle: Left hand remains empty on the left side of the table, keeping static with no visible movement or contact with any operated object. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward to position directly above the purple plastic rod on the wooden assembly base."}
+{"subtask_index": 985, "subtask": "Left hand: idle: Left hand remains empty on the left side of the table, keeping static with no visible movement or contact with any operated object. | Right hand: mate_release: Right hand aligns the white hexagonal nut with the purple plastic rod, lowers the nut to nest securely onto the rod with minor position adjustments, and opens fingers to release contact with the assembled nut."}
+{"subtask_index": 986, "subtask": "Left hand: idle: Left hand remains empty on the left side of the table, keeping static with no visible movement or contact with any operated object. | Right hand: reach: Right hand moves downward from the upper assembly area toward the green hexagonal block on the black table surface with fingers slightly open."}
+{"subtask_index": 987, "subtask": "Left hand: idle: Left hand remains empty on the left side of the table, keeping static with no visible movement or contact with any operated object. | Right hand: grasp: Right hand closes fingers around the green hexagonal block resting on the table, making small adjustments to finger positions to form a stable grip, with the block still supported by the table."}
+{"subtask_index": 988, "subtask": "Left hand: idle: Left hand remains empty on the left side of the table, keeping static with no visible movement or contact with any operated object. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block off the table surface and transports it upward to position it above the target purple rod on the wooden assembly base."}
+{"subtask_index": 989, "subtask": "Left hand: idle: Left hand remains empty on the left side of the table, keeping static with no visible movement or contact with any operated object. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the target purple rod, lowers the block to fit it onto the rod, and makes small positional adjustments during the assembly motion."}
+{"subtask_index": 990, "subtask": "Left hand: idle: Left hand remains empty on the left side of the table, keeping static with no visible movement or contact with any operated object. | Right hand: place_release: Right hand places the green hexagonal block onto the purple peg of the wooden assembly base and releases its grip on the block."}
+{"subtask_index": 991, "subtask": "Left hand: idle: Left hand remains empty on the left side of the table, keeping static with no visible movement or contact with any operated object. | Right hand: reach: Right hand moves downward toward the green hexagonal block resting on the dark table surface."}
+{"subtask_index": 992, "subtask": "Left hand: idle: Left hand remains empty on the left side of the table, keeping static with no visible movement or contact with any operated object. | Right hand: grasp: Right hand adjusts its fingers around the white hexagonal nut on the table to form a stable grip."}
+{"subtask_index": 993, "subtask": "Left hand: idle: Left hand remains empty on the left side of the table, keeping static with no visible movement or contact with any operated object. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it to the position directly above the purple rod on the wooden base."}
+{"subtask_index": 994, "subtask": "Left hand: idle: Left hand remains empty on the left side of the table, keeping static with no visible movement or contact with any operated object. | Right hand: mate: Right hand makes small wrist and finger adjustments to align the white hexagonal nut with the purple rod, moving the nut downward to fit onto the rod."}
+{"subtask_index": 995, "subtask": "Left hand: idle: Left hand remains empty on the left side of the table, keeping static with no visible movement or contact with any operated object. | Right hand: reach: Right hand moves downward and rightward from the wooden block assembly area toward the nearest white hexagonal nut on the table, with fingers slightly open."}
+{"subtask_index": 996, "subtask": "Left hand: idle: Left hand remains empty on the left side of the table, keeping static with no visible movement or contact with any operated object. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table to establish a stable grip, with the nut remaining on the table surface."}
+{"subtask_index": 997, "subtask": "Left hand: idle: Left hand remains empty on the left side of the table, keeping static with no visible movement or contact with any operated object. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward and leftward toward the purple vertical rod on the wooden block assembly."}
+{"subtask_index": 998, "subtask": "Left hand: idle: Left hand remains empty on the left side of the table, keeping static with no visible movement or contact with any operated object. | Right hand: mate: Right hand aligns the central hole of the grasped white hexagonal nut with the purple vertical rod, fitting the nut onto the rod."}
+{"subtask_index": 999, "subtask": "Left hand: idle: Left hand remains empty on the left side of the table, keeping static with no visible movement or contact with any operated object. | Right hand: place_release: Right hand lowers the white hexagonal nut down the purple vertical rod until the nut rests on the wooden base, with fingers opening to release the grip on the nut."}
+{"subtask_index": 1000, "subtask": "Left hand: idle: Left hand remains empty on the left side of the table, keeping static with no visible movement or contact with any operated object. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the dark table surface with fingers slightly open."}
+{"subtask_index": 1001, "subtask": "Left hand: idle: Left hand remains empty on the left side of the table, keeping static with no visible movement or contact with any operated object. | Right hand: retreat: Right hand moves slightly upward away from the assembled white hexagonal nut, with the hand empty."}
+{"subtask_index": 1002, "subtask": "Left hand: idle: Left hand remains empty on the left side of the table, keeping static with no visible movement or contact with any operated object. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table to form a stable grip."}
+{"subtask_index": 1003, "subtask": "Left hand: idle: Left hand remains empty on the left side of the table, keeping static with no visible movement or contact with any operated object. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward off the table surface."}
+{"subtask_index": 1004, "subtask": "Left hand: idle: Left hand remains empty on the left side of the table, keeping static with no visible movement or contact with any operated object. | Right hand: transport: Right hand moves the grasped white hexagonal block upward and leftward to the position directly above the purple peg on the wooden block base."}
+{"subtask_index": 1005, "subtask": "Left hand: idle: Left hand remains empty on the left side of the table, keeping static with no visible movement or contact with any operated object. | Right hand: mate: Right hand aligns the hole of the white hexagonal block with the purple peg and lowers the block to fit it onto the peg, completing the nested assembly."}
+{"subtask_index": 1006, "subtask": "Left hand: idle: Left hand remains empty on the left side of the table, keeping static with no visible movement or contact with any operated object. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple peg without moving."}
+{"subtask_index": 1007, "subtask": "Left hand: idle: Left hand remains empty on the left side of the table, keeping static with no visible movement or contact with any operated object. | Right hand: press: Right hand presses the raised purple pump top of the white bottle on the wooden rack vertically downward until the pump is fully depressed."}
+{"subtask_index": 1008, "subtask": "Left hand: idle: Left hand remains empty on the left side of the table, keeping static with no visible movement or contact with any operated object. | Right hand: reach: Right hand moves empty downward from the bottle rack area toward the green cubic block resting on the table surface, approaching the block."}
+{"subtask_index": 1009, "subtask": "Left hand: idle: Left hand remains empty on the left side of the table, keeping static with no visible movement or contact with any operated object. | Right hand: grasp: Right hand closes fingers around the green cubic block on the table to establish a stable grasp, with the block remaining on the table surface."}
+{"subtask_index": 1010, "subtask": "Left hand: idle: Left hand remains empty on the left side of the table, keeping static with no visible movement or contact with any operated object. | Right hand: lift: Right hand lifts the grasped green cubic block vertically upward until the block is fully separated from the table surface."}
+{"subtask_index": 1011, "subtask": "Left hand: idle: Left hand remains empty on the left side of the table, keeping static with no visible movement or contact with any operated object. | Right hand: transport: Right hand carries the grasped green cubic block upward and leftward to the position directly above the pressed purple pump top on the white bottle."}
+{"subtask_index": 1012, "subtask": "Left hand: idle: Left hand remains empty on the left side of the table, keeping static with no visible movement or contact with any operated object. | Right hand: place: Right hand lowers the green cubic block vertically downward onto the purple pump top until the block is stably supported by the bottle top."}
+{"subtask_index": 1013, "subtask": "Left hand: idle: Left hand remains empty on the left side of the table, keeping static with no visible movement or contact with any operated object. | Right hand: hold: Right hand holds the green cubic block seated on the purple pump top without any visible movement of the hand or block."}
+{"subtask_index": 1014, "subtask": "Left hand: idle: Left hand remains empty on the left side of the table, keeping static with no visible movement or contact with any operated object. | Right hand: release: Right hand opens fingers to release the green cubic block on the bottle top, fully separating the hand from the block."}
+{"subtask_index": 1015, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves leftward and downward from the right side of the workspace toward the green hexagonal block in front of the wooden base, with fingers open."}
+{"subtask_index": 1016, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green hexagonal block on the table, with slight finger adjustments to stabilize the grip."}
+{"subtask_index": 1017, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it towards the wooden rack with purple pegs."}
+{"subtask_index": 1018, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the leftmost purple peg on the wooden rack and fits it onto the peg."}
+{"subtask_index": 1019, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: hold: Right hand holds the green hexagonal block fitted on the leftmost purple peg without moving."}
+{"subtask_index": 1020, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: place_release: Right hand places the white hexagonal block onto the left front peg of the pegboard and releases the block."}
+{"subtask_index": 1021, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves downward from the pegboard toward the white hexagonal block on the table surface."}
+{"subtask_index": 1022, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table surface with fingers closing around it."}
+{"subtask_index": 1023, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal object off the tabletop and transports it to the top of the leftmost purple peg."}
+{"subtask_index": 1024, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand mates the white hexagonal object onto the leftmost purple peg, lowering it along the peg until it reaches the green base."}
+{"subtask_index": 1025, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: hold: Right hand holds the white hexagonal object on the leftmost purple peg without moving."}
+{"subtask_index": 1026, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: press: Right hand presses the white cylindrical piece onto the purple post on the wooden assembly board."}
+{"subtask_index": 1027, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table, keeping empty and not touching the block."}
+{"subtask_index": 1028, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers adjusting to form a stable grip."}
+{"subtask_index": 1029, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal piece off the table and moves it toward the leftmost peg on the wooden base."}
+{"subtask_index": 1030, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand aligns the white hexagonal piece with the leftmost peg and lowers it to nest the piece onto the peg."}
+{"subtask_index": 1031, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: release: Right hand opens its fingers to release the white hexagonal piece, separating from the piece."}
+{"subtask_index": 1032, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: idle: Right hand remains empty above the leftmost peg without moving."}
+{"subtask_index": 1033, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves downward to approach the white hexagonal ring on the table in front of the wooden peg base."}
+{"subtask_index": 1034, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal ring on the table, with slight grip adjustment."}
+{"subtask_index": 1035, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal ring off the table and transports it upward to the position above the middle purple peg."}
+{"subtask_index": 1036, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand aligns the white hexagonal ring with the middle purple peg and lowers it onto the peg to complete the fitting."}
+{"subtask_index": 1037, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: release: Right hand opens its fingers to release the white hexagonal ring fitted on the middle purple peg."}
+{"subtask_index": 1038, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand mates the white cylindrical piece with the purple peg on the wooden base."}
+{"subtask_index": 1039, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table surface with fingers closing."}
+{"subtask_index": 1040, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table and transports it above the wooden peg board."}
+{"subtask_index": 1041, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the middle peg on the wooden board and fits it onto the peg."}
+{"subtask_index": 1042, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: hold: Right hand holds the green hexagonal block on the middle peg of the wooden board without moving."}
+{"subtask_index": 1043, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate_release: Right hand mates the green hexagonal block onto the middle vertical peg of the wooden base and releases the block."}
+{"subtask_index": 1044, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the dark table surface."}
+{"subtask_index": 1045, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the dark table surface with fingers closing around it."}
+{"subtask_index": 1046, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it upward and leftward to the position above the purple peg on the wooden base."}
+{"subtask_index": 1047, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand aligns the hole of the white hexagonal block with the purple peg and inserts it downward onto the peg to complete the assembly."}
+{"subtask_index": 1048, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple peg without moving."}
+{"subtask_index": 1049, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves downward from the block assembly area toward the upper white hexagonal block on the black table."}
+{"subtask_index": 1050, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand grasps the upper white hexagonal block on the black table, with fingers closing around the block."}
+{"subtask_index": 1051, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: hold: Right hand holds the upper white hexagonal block on the black table without moving."}
+{"subtask_index": 1052, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift: Right hand lifts the upper white hexagonal block up from the black table surface."}
+{"subtask_index": 1053, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: transport: Right hand transports the white hexagonal block upward and leftward to the top of the purple rod."}
+{"subtask_index": 1054, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod by aligning the hole and lowering the block onto the rod."}
+{"subtask_index": 1055, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: release: Right hand releases the white hexagonal ring on the purple rod of the wooden base, with fingers opening to separate from the ring."}
+{"subtask_index": 1056, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves downward from the purple rod toward the white hexagonal ring on the black table."}
+{"subtask_index": 1057, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand grasps the white hexagonal ring on the black table, with fingers closing around the ring to form a stable grip."}
+{"subtask_index": 1058, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal ring off the black table and transports it upward to the position above the purple rod on the wooden base."}
+{"subtask_index": 1059, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand mates the white hexagonal ring with the purple rod, lowering it along the rod until it rests on the lower white block."}
+{"subtask_index": 1060, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: release: Right hand releases the white hexagonal ring on the purple rod, with fingers opening to separate from the ring."}
+{"subtask_index": 1061, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand reaches towards the green block on the table below the wooden tray."}
+{"subtask_index": 1062, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand grasps the green block on the table with fingers closing and adjusting grip."}
+{"subtask_index": 1063, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: release: Right hand releases the green block on the table with fingers opening."}
+{"subtask_index": 1064, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: idle: Right hand remains empty above the green block on the table without moving."}
+{"subtask_index": 1065, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach_grasp: Right hand reaches towards and grasps the green block on the table."}
+{"subtask_index": 1066, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift: Right hand lifts the green square block from the right side of the table surface."}
+{"subtask_index": 1067, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: transport: Right hand transports the green square block leftward and upward to the top of the front-right white column on the wooden base."}
+{"subtask_index": 1068, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand mates the green square block with the front-right white column by fitting it down onto the column."}
+{"subtask_index": 1069, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: release: Right hand releases the green square block fitted on the front-right white column."}
+{"subtask_index": 1070, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves towards the green hexagonal block placed on the black table near the wooden rack."}
+{"subtask_index": 1071, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand closes fingers to adjust contact and establish stable grasp on the green hexagonal block."}
+{"subtask_index": 1072, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and moves it to the position above the leftmost peg of the wooden base."}
+{"subtask_index": 1073, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand aligns the green block with the leftmost peg and inserts the block onto the peg."}
+{"subtask_index": 1074, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: press: Right hand presses the green block down along the peg to fit it firmly in position."}
+{"subtask_index": 1075, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: press_release: Right hand presses the green block onto the purple peg on the wooden base before releasing it."}
+{"subtask_index": 1076, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves downward from the wooden base toward the white hexagonal block on the table."}
+{"subtask_index": 1077, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand adjusts fingers to form a stable grip on the white hexagonal block on the table."}
+{"subtask_index": 1078, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal object from the table and transports it to the top of the leftmost purple rod on the wooden base."}
+{"subtask_index": 1079, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand aligns the white hexagonal object with the leftmost purple rod and inserts it onto the rod."}
+{"subtask_index": 1080, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: press: Right hand presses the white hexagonal object down along the purple rod to the bottom position."}
+{"subtask_index": 1081, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: release: Right hand releases the white cylindrical block on the peg of the wooden base."}
+{"subtask_index": 1082, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block placed on the black tabletop."}
+{"subtask_index": 1083, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black tabletop with fingers closing around it."}
+{"subtask_index": 1084, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift: Right hand lifts the white hexagonal block up from the black table."}
+{"subtask_index": 1085, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: transport: Right hand transports the white hexagonal block to above the leftmost purple rod on the wooden test tube rack."}
+{"subtask_index": 1086, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: place: Right hand places the white hexagonal block onto the leftmost purple rod of the wooden test tube rack."}
+{"subtask_index": 1087, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: release: Right hand releases the white hexagonal block fitted on the leftmost purple rod."}
+{"subtask_index": 1088, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: retreat: Right hand retreats upward away from the white hexagonal block."}
+{"subtask_index": 1089, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: place: Right hand places the white hollow cylinder onto the purple rod of the wooden base."}
+{"subtask_index": 1090, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand reaches towards the white hexagonal object on the table in front of the wooden base."}
+{"subtask_index": 1091, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table in front of the wooden rack."}
+{"subtask_index": 1092, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it above the rear right pillar of the wooden rack."}
+{"subtask_index": 1093, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand mates the white hexagonal block with the rear right pillar of the wooden rack by inserting it downwards onto the pillar."}
+{"subtask_index": 1094, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: place: Right hand places the white hexagonal block onto the target peg on the wooden base."}
+{"subtask_index": 1095, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves downward towards the green cubic block on the table surface."}
+{"subtask_index": 1096, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand closes its fingers to form a stable grasp on the green cubic block."}
+{"subtask_index": 1097, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift: Right hand lifts the green cubic block completely off the table surface."}
+{"subtask_index": 1098, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: transport: Right hand transports the green cubic block to the area above the wooden base."}
+{"subtask_index": 1099, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand aligns the green cubic block with the top of the target peg on the wooden base and presses it down to assemble."}
+{"subtask_index": 1100, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand makes slight finger adjustments to the position of the green cubic block on the peg."}
+{"subtask_index": 1101, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand mates the white cylindrical block onto the purple peg on the wooden base."}
+{"subtask_index": 1102, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves downwards towards the white hexagonal block on the black table surface."}
+{"subtask_index": 1103, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the black table surface."}
+{"subtask_index": 1104, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the white hollow cylinder from the table and transports it towards the purple rod on the wooden base."}
+{"subtask_index": 1105, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand aligns the white hollow cylinder with the purple rod on the wooden base and inserts it downwards to complete assembly."}
+{"subtask_index": 1106, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: place: Right hand places the white cylindrical object onto the corresponding peg on the wooden base."}
+{"subtask_index": 1107, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: release: Right hand releases the white cylindrical object after completing the placement."}
+{"subtask_index": 1108, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves downward and rightward towards the white hexagonal object on the black tabletop."}
+{"subtask_index": 1109, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand grasps and adjusts contact with the white hexagonal object on the black tabletop."}
+{"subtask_index": 1110, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it towards the purple rod on the wooden base."}
+{"subtask_index": 1111, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: release_retreat: Right hand releases the white hexagonal block on the purple rod and moves away from the wooden base."}
+{"subtask_index": 1112, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves towards the white hexagonal block on the black tabletop."}
+{"subtask_index": 1113, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the tabletop."}
+{"subtask_index": 1114, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the tabletop and moves it towards the purple peg on the wooden base."}
+{"subtask_index": 1115, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: place: Right hand places the white hexagonal block onto the purple peg on the wooden base."}
+{"subtask_index": 1116, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: release: Right hand releases the white hexagonal block on the purple peg."}
+{"subtask_index": 1117, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves towards the green square block on the dark table surface."}
+{"subtask_index": 1118, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand grasps the green square block on the dark table surface."}
+{"subtask_index": 1119, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the green cubic block off the table and transports it towards the white pillar on the wooden tray."}
+{"subtask_index": 1120, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand aligns the green cubic block with the top of the target white pillar and fits the block onto the pillar."}
+{"subtask_index": 1121, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: release: Right hand opens its fingers to release the green cubic block fitted on the white pillar."}
+{"subtask_index": 1122, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: retreat: Right hand moves slightly away from the wooden tray after releasing the block."}
+{"subtask_index": 1123, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without movement or contact with any objects. | Right hand: idle: Right hand stays empty at the right initial home position without obvious movement."}
+{"subtask_index": 1124, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without movement or contact with any objects. | Right hand: reach: Right hand moves left and downward toward the green hexagonal block adjacent to the wooden peg base, with fingers open and no contact with the target block."}
+{"subtask_index": 1125, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without movement or contact with any objects. | Right hand: grasp: Right hand closes fingers around the target green hexagonal block on the table, adjusting finger contact positions to establish a grip on the block."}
+{"subtask_index": 1126, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without movement or contact with any objects. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block completely off the table surface and moves it upward to position directly above the leftmost purple peg on the wooden base."}
+{"subtask_index": 1127, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without movement or contact with any objects. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the target purple peg and lowers the block to insert it onto the peg, making small positional adjustments to maintain alignment during assembly."}
+{"subtask_index": 1128, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without movement or contact with any objects. | Right hand: reach: Right hand moves downward from its initial position near the block assembly to approach the white hexagonal nut on the table, fingers slightly spread."}
+{"subtask_index": 1129, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without movement or contact with any objects. | Right hand: grasp: Right hand closes its fingers around the white hexagonal nut, establishing a stable grip while the nut rests on the table surface."}
+{"subtask_index": 1130, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without movement or contact with any objects. | Right hand: lift_transport: Right hand lifts the white hexagonal nut completely off the table surface and transports it upward to the position above the unoccupied purple peg on the wooden base."}
+{"subtask_index": 1131, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without movement or contact with any objects. | Right hand: mate: Right hand adjusts the position of the white hexagonal nut to align its central hole with the top of the empty purple peg."}
+{"subtask_index": 1132, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without movement or contact with any objects. | Right hand: place: Right hand lowers the aligned white hexagonal nut along the purple peg until the nut rests stably on the green supporting block below."}
+{"subtask_index": 1133, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without movement or contact with any objects. | Right hand: hold: Right hand holds the seated white hexagonal nut on the purple peg without observable movement or grip adjustment."}
+{"subtask_index": 1134, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without movement or contact with any objects. | Right hand: reach: Right hand moves empty downward and forward from the area above the wooden assembly base toward the front white hexagonal nut on the table surface."}
+{"subtask_index": 1135, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without movement or contact with any objects. | Right hand: grasp: Right hand closes fingers around the front white hexagonal nut on the table, adjusting finger contact positions to establish a grip."}
+{"subtask_index": 1136, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without movement or contact with any objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and transports it upward to the position directly above the purple rod on the wooden assembly base."}
+{"subtask_index": 1137, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without movement or contact with any objects. | Right hand: mate: Right hand adjusts the orientation and position of the white hexagonal nut to align its central hole with the purple rod on the wooden base, and moves it slightly downward to fit onto the rod."}
+{"subtask_index": 1138, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without movement or contact with any objects. | Right hand: press: Right hand presses the top surface of the top white hexagonal nut on the rightmost peg of the wooden assembly base downward to secure the nut in place."}
+{"subtask_index": 1139, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without movement or contact with any objects. | Right hand: reach: Right hand moves downward through the air toward the white hexagonal nut positioned in front of the wooden assembly base."}
+{"subtask_index": 1140, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without movement or contact with any objects. | Right hand: grasp: Right hand makes contact with the target white hexagonal nut in front of the assembly base, closing fingers and adjusting hand position to form a stable grip on the nut."}
+{"subtask_index": 1141, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without movement or contact with any objects. | Right hand: lift: Right hand lifts the grasped white hexagonal nut upward from the black table surface until the nut is completely separated from the table."}
+{"subtask_index": 1142, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without movement or contact with any objects. | Right hand: transport: Right hand carries the white hexagonal nut toward the wooden assembly base, moving the nut to a position directly above the target purple vertical post."}
+{"subtask_index": 1143, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without movement or contact with any objects. | Right hand: mate: Right hand makes small positional and rotational adjustments to align the white hexagonal nut with the purple post, moving the nut downward to fit it onto the post."}
+{"subtask_index": 1144, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without movement or contact with any objects. | Right hand: press: Right hand presses the top white hexagonal block on the purple peg of the wooden base downward until it is fully seated level with adjacent blocks."}
+{"subtask_index": 1145, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without movement or contact with any objects. | Right hand: reach: Right hand moves downward from the wooden base toward the green hexagonal block placed on the table surface, approaching the target object."}
+{"subtask_index": 1146, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without movement or contact with any objects. | Right hand: grasp: Right hand closes fingers around the target green hexagonal block on the table, adjusting finger contact positions to establish a secure grip."}
+{"subtask_index": 1147, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without movement or contact with any objects. | Right hand: lift_transport: Right hand lifts the green hexagonal block completely off the table surface and transports it upward to the position directly above the purple post on the wooden assembly base."}
+{"subtask_index": 1148, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without movement or contact with any objects. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple post and lowers the block to fit onto the post."}
+{"subtask_index": 1149, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without movement or contact with any objects. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple post without any visible movement of the hand or the block."}
+{"subtask_index": 1150, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without movement or contact with any objects. | Right hand: reach: Right hand moves downwards from the wooden peg base towards the green hexagonal block on the table surface, with fingers held open."}
+{"subtask_index": 1151, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without movement or contact with any objects. | Right hand: grasp: Right hand makes contact with the green hexagonal block on the table and closes fingers to establish a grip on the block."}
+{"subtask_index": 1152, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without movement or contact with any objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the table and moves it upward to the position directly above the purple rod on the wooden assembly stand."}
+{"subtask_index": 1153, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without movement or contact with any objects. | Right hand: mate: Right hand adjusts the position and orientation of the held white hexagonal nut to align its central hole with the top of the purple rod, fitting the rod tip into the nut hole."}
+{"subtask_index": 1154, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without movement or contact with any objects. | Right hand: place_release: Right hand lowers the white hexagonal nut along the purple rod until the nut is fully seated and supported on the assembly stand, opening fingers to release the positioned nut."}
+{"subtask_index": 1155, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without movement or contact with any objects. | Right hand: reach: Right hand moves downward with open fingers toward the white hexagonal nut placed beside the wooden block on the table surface."}
+{"subtask_index": 1156, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without movement or contact with any objects. | Right hand: grasp: Right hand closes its fingers around the white hexagonal nut on the table to form a stable grip, with the nut still resting on the table."}
+{"subtask_index": 1157, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without movement or contact with any objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward to position directly above the purple rod on the wooden block."}
+{"subtask_index": 1158, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without movement or contact with any objects. | Right hand: mate: Right hand aligns the held white hexagonal nut with the purple rod and lowers it to fit the nut onto the rod for assembly."}
+{"subtask_index": 1159, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without movement or contact with any objects. | Right hand: release: Right hand opens its fingers to release the white hexagonal nut, separating the hand from the nut resting on the wooden block base."}
+{"subtask_index": 1160, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without movement or contact with any objects. | Right hand: reach: Right hand moves downward with an open posture toward the white hexagonal block placed on the table surface."}
+{"subtask_index": 1161, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without movement or contact with any objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table to form a stable grip."}
+{"subtask_index": 1162, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without movement or contact with any objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block completely off the table surface and moves it upward to the position directly above the purple cylinder on the wooden base."}
+{"subtask_index": 1163, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without movement or contact with any objects. | Right hand: mate: Right hand adjusts the position of the white hexagonal block, aligns its central hole with the purple cylinder, and fits the block down onto the cylinder to complete the assembly."}
+{"subtask_index": 1164, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without movement or contact with any objects. | Right hand: reach: Right hand moves empty downward toward the green hollow block placed on the dark table surface."}
+{"subtask_index": 1165, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without movement or contact with any objects. | Right hand: grasp: Right hand contacts the green hollow block, adjusts finger positions and closes fingers to form a grasp, with the block remaining on the table surface."}
+{"subtask_index": 1166, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without movement or contact with any objects. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table surface and moves it to the position directly above the rightmost white cylinder on the wooden block rack."}
+{"subtask_index": 1167, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without movement or contact with any objects. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the top of the rightmost white cylinder and lowers the block to fit snugly onto the cylinder."}
+{"subtask_index": 1168, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without movement or contact with any objects. | Right hand: release: Right hand opens its fingers to release the fitted green hexagonal block, loosening grip on the block."}
+{"subtask_index": 1169, "subtask": "Left hand: other:extend_fingers: Left hand slightly extends its fingers while keeping its wrist stationary at the left side of the table. | Right hand: reach: Right hand moves leftward and downward from the right side of the table toward the green hexagonal block in front of the wooden base."}
+{"subtask_index": 1170, "subtask": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: reach: Right hand moves leftward and downward from the right side of the table toward the green hexagonal block in front of the wooden base."}
+{"subtask_index": 1171, "subtask": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: grasp: Right hand closes its fingers around the green hexagonal block on the table, adjusting to form a stable grasp."}
+{"subtask_index": 1172, "subtask": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the tabletop and transports it above the leftmost purple peg of the wooden rack."}
+{"subtask_index": 1173, "subtask": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: mate: Right hand mates the green hexagonal block onto the leftmost purple peg of the wooden rack."}
+{"subtask_index": 1174, "subtask": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: hold: Right hand holds the green hexagonal block on the leftmost purple peg without moving."}
+{"subtask_index": 1175, "subtask": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: mate: Right hand mates the white cylindrical sleeve onto the purple peg of the wooden pegboard."}
+{"subtask_index": 1176, "subtask": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: reach: Right hand reaches toward the white hexagonal piece on the black table surface, moving downward."}
+{"subtask_index": 1177, "subtask": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: grasp: Right hand grasps the white hexagonal piece on the black table surface, with fingers adjusting to form a stable grip."}
+{"subtask_index": 1178, "subtask": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the black table and moves it toward the leftmost purple peg on the wooden base."}
+{"subtask_index": 1179, "subtask": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: mate: Right hand aligns the white hexagonal nut with the leftmost purple peg and inserts it onto the peg."}
+{"subtask_index": 1180, "subtask": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: mate_release: Right hand mates the white cylindrical part onto the leftmost purple post of the wooden base and releases the part."}
+{"subtask_index": 1181, "subtask": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: reach: Right hand moves downward toward the white hexagonal part on the black table surface."}
+{"subtask_index": 1182, "subtask": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: grasp: Right hand grasps the white hexagonal part on the black table surface with fingers closing around it."}
+{"subtask_index": 1183, "subtask": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal object off the table and transports it toward the leftmost purple peg on the wooden base."}
+{"subtask_index": 1184, "subtask": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: mate: Right hand aligns the hole of the white hexagonal object with the leftmost purple peg and inserts the object onto the peg."}
+{"subtask_index": 1185, "subtask": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: place: Right hand lowers the white hexagonal object along the leftmost purple peg until it rests on the green component below and is supported."}
+{"subtask_index": 1186, "subtask": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: release_retreat: Right hand opens fingers to release the white hexagonal object on the leftmost purple peg and moves slightly upward away from the peg."}
+{"subtask_index": 1187, "subtask": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: release: Right hand releases the white cylindrical block on the purple peg of the wooden base, with fingers opening and separating from the block."}
+{"subtask_index": 1188, "subtask": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: reach: Right hand moves downward and rightward to approach the white hexagonal block on the table near the wooden base."}
+{"subtask_index": 1189, "subtask": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing around the block to form a grip."}
+{"subtask_index": 1190, "subtask": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: hold: Right hand holds the white hexagonal block on the table surface without moving."}
+{"subtask_index": 1191, "subtask": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: grasp: Right hand grasps the white hexagonal object on the table near the wooden peg rack, with fingers adjusting to form a stable grip."}
+{"subtask_index": 1192, "subtask": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal object from the table and transports it upward to the top of the middle purple peg on the wooden rack."}
+{"subtask_index": 1193, "subtask": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: mate: Right hand mates the white hexagonal object onto the middle purple peg by aligning its hole with the peg and lowering it down."}
+{"subtask_index": 1194, "subtask": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: release: Right hand releases the white hexagonal object by opening its fingers."}
+{"subtask_index": 1195, "subtask": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: idle: Right hand remains empty above the wooden peg rack without moving."}
+{"subtask_index": 1196, "subtask": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: mate_release: Right hand mates the white perforated block onto the purple peg of the wooden base and releases the block."}
+{"subtask_index": 1197, "subtask": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the black table surface."}
+{"subtask_index": 1198, "subtask": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers adjusting to form a stable grip."}
+{"subtask_index": 1199, "subtask": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table surface and transports it to the position above the right purple rod on the wooden base."}
+{"subtask_index": 1200, "subtask": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: mate: Right hand aligns the green hexagonal block with the right white hexagonal post along the purple guide rod and makes repeated vertical position adjustments during the assembly process."}
+{"subtask_index": 1201, "subtask": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: mate_release: Right hand fits the white cylindrical piece onto the green peg on the wooden base and releases its grip."}
+{"subtask_index": 1202, "subtask": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: reach: Right hand reaches downward toward the white hexagonal piece on the dark table surface."}
+{"subtask_index": 1203, "subtask": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: grasp: Right hand grasps the white hexagonal piece on the dark table surface, with fingers closing and adjusting around the piece."}
+{"subtask_index": 1204, "subtask": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal part from the table surface and transports it towards the wooden peg rack."}
+{"subtask_index": 1205, "subtask": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: mate: Right hand aligns the white hexagonal part with the peg on the wooden rack and inserts it to complete the fitting."}
+{"subtask_index": 1206, "subtask": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: release: Right hand releases the white cylindrical block on the wooden peg board, fingers gradually open and separate from the block."}
+{"subtask_index": 1207, "subtask": "Left hand: other:hand_pose_adjust: Left hand adjusts its pose by extending fingers upward and slightly rotating the wrist, keeping wrist position unchanged. | Right hand: reach: Right hand moves downward and rightward toward the white hexagonal block on the table, empty-handed."}
+{"subtask_index": 1208, "subtask": "Left hand: idle: Left hand remains empty at the left side of the frame with extended upward fingers, without moving. | Right hand: reach: Right hand moves downward and rightward toward the white hexagonal block on the table, empty-handed."}
+{"subtask_index": 1209, "subtask": "Left hand: idle: Left hand remains empty at the left side of the frame with extended upward fingers, without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, fingers close around the block."}
+{"subtask_index": 1210, "subtask": "Left hand: idle: Left hand remains empty at the left side of the frame with extended upward fingers, without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it to the position above the purple vertical rod."}
+{"subtask_index": 1211, "subtask": "Left hand: idle: Left hand remains empty at the left side of the frame with extended upward fingers, without moving. | Right hand: mate_place: Right hand mates the white hexagonal block with the purple vertical rod and places it on the supporting white cylinder."}
+{"subtask_index": 1212, "subtask": "Left hand: idle: Left hand remains empty at the left side of the frame with extended upward fingers, without moving. | Right hand: release: Right hand releases the white hexagonal block with fingers opening and separating from the block."}
+{"subtask_index": 1213, "subtask": "Left hand: idle: Left hand remains empty at the left side of the frame with extended upward fingers, without moving. | Right hand: retreat: Right hand retreats upward away from the white hexagonal block."}
+{"subtask_index": 1214, "subtask": "Left hand: idle: Left hand remains empty at the left side of the frame with extended upward fingers, without moving. | Right hand: release: Right hand releases the white cylindrical block on the top-right of the wooden peg rack, with fingers opening and separating from the block."}
+{"subtask_index": 1215, "subtask": "Left hand: idle: Left hand remains empty at the left side of the frame with extended upward fingers, without moving. | Right hand: reach: Right hand reaches toward the white hexagonal block on the table surface below the wooden rack."}
+{"subtask_index": 1216, "subtask": "Left hand: idle: Left hand remains empty at the left side of the frame with extended upward fingers, without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table surface, with fingers closing and adjusting to form a stable grip."}
+{"subtask_index": 1217, "subtask": "Left hand: idle: Left hand remains empty at the left side of the frame with extended upward fingers, without moving. | Right hand: lift_transport: Right hand lifts the white perforated hexagonal block off the table and transports it toward the purple peg on the wooden rack."}
+{"subtask_index": 1218, "subtask": "Left hand: idle: Left hand remains empty at the left side of the frame with extended upward fingers, without moving. | Right hand: mate: Right hand aligns the white perforated hexagonal block with the purple peg on the wooden rack and fits it onto the peg to complete the assembly."}
+{"subtask_index": 1219, "subtask": "Left hand: idle: Left hand remains empty at the left side of the frame with extended upward fingers, without moving. | Right hand: mate_release: Right hand fits the white cylinder with purple top into the wooden rack and releases it."}
+{"subtask_index": 1220, "subtask": "Left hand: idle: Left hand remains empty at the left side of the frame with extended upward fingers, without moving. | Right hand: reach: Right hand moves downward toward the green cube on the dark table surface."}
+{"subtask_index": 1221, "subtask": "Left hand: idle: Left hand remains empty at the left side of the frame with extended upward fingers, without moving. | Right hand: grasp: Right hand grasps the green cube on the dark table surface with fingers closing around it."}
+{"subtask_index": 1222, "subtask": "Left hand: idle: Left hand remains empty at the left side of the frame with extended upward fingers, without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it toward the bottle rack in the middle of the table."}
+{"subtask_index": 1223, "subtask": "Left hand: idle: Left hand remains empty at the left side of the frame with extended upward fingers, without moving. | Right hand: mate: Right hand aligns the green block with the target white bottle on the rack and fits it onto the bottle."}
+{"subtask_index": 1224, "subtask": "Left hand: idle: Left hand remains empty at the left side of the frame with extended upward fingers, without moving. | Right hand: other:adjust_assembly: Right hand makes small positional adjustments to the green block on the bottle to ensure proper fitting."}
+{"subtask_index": 1225, "subtask": "Left hand: idle: Left hand remains empty at the left side of the frame with extended upward fingers, without moving. | Right hand: release: Right hand releases the green block, with fingers opening and separating from the block."}
+{"subtask_index": 1226, "subtask": "Left hand: idle: Left hand remains empty at the left side of the frame with extended upward fingers, without moving. | Right hand: retreat: Right hand moves slightly away from the green block after releasing it."}
+{"subtask_index": 1227, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves toward the green hexagonal object placed on the black table."}
+{"subtask_index": 1228, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand contacts and adjusts fingers to grasp the green hexagonal object on the table."}
+{"subtask_index": 1229, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it to the position above the leftmost purple post of the test tube rack."}
+{"subtask_index": 1230, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand mates the green block with the leftmost purple post of the test tube rack, pushing it down to complete the assembly."}
+{"subtask_index": 1231, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: place_release: Right hand places the white cylindrical block onto the pillar of the wooden base and releases its grip on the block."}
+{"subtask_index": 1232, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the black table surface."}
+{"subtask_index": 1233, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it to the position above the leftmost purple rod on the green base."}
+{"subtask_index": 1234, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand mates the white hexagonal block onto the leftmost purple rod of the green base, adjusting position to fit the rod into the block's hole."}
+{"subtask_index": 1235, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: release: Right hand releases the white hexagonal block on the purple peg of the wooden base."}
+{"subtask_index": 1236, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves down towards the white hexagonal block on the black table surface."}
+{"subtask_index": 1237, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, with fingers adjusting to form a stable grip."}
+{"subtask_index": 1238, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it to the upper position of the purple rod on the wooden base."}
+{"subtask_index": 1239, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand aligns the white hexagonal block with the front-left purple rod and inserts it onto the rod."}
+{"subtask_index": 1240, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves downward to reach the white hex block on the black table."}
+{"subtask_index": 1241, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand closes fingers to grasp the white hex block on the black table."}
+{"subtask_index": 1242, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift: Right hand lifts the white hexagonal block from the black table surface."}
+{"subtask_index": 1243, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: transport: Right hand transports the white hexagonal block to the position above the purple rod on the wooden rack."}
+{"subtask_index": 1244, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and fits the block onto the rod."}
+{"subtask_index": 1245, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: press: Right hand presses the white hexagonal block down along the purple rod to fix it in place."}
+{"subtask_index": 1246, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand mates the white ring onto the purple rod on the wooden base."}
+{"subtask_index": 1247, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves downward toward the green hollow block placed on the black table."}
+{"subtask_index": 1248, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand closes fingers to grasp the green hollow block on the black table."}
+{"subtask_index": 1249, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift: Right hand lifts the green hexagonal block from the black table surface."}
+{"subtask_index": 1250, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: transport: Right hand transports the green hexagonal block towards the purple rod on the wooden base."}
+{"subtask_index": 1251, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand mates the green hexagonal block onto the purple rod of the wooden base."}
+{"subtask_index": 1252, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand reaches toward the white hexagonal block on the dark table surface."}
+{"subtask_index": 1253, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block and transports it above the peg on the wooden base."}
+{"subtask_index": 1254, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: release_push: Right hand releases the white hexagonal block and pushes blocks on the black table to adjust their positions."}
+{"subtask_index": 1255, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table with finger adjustments for stable hold."}
+{"subtask_index": 1256, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block and transports it above the target peg on the wooden base."}
+{"subtask_index": 1257, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: place: Right hand places the white hexagonal block onto the target peg on the wooden base."}
+{"subtask_index": 1258, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand adjusts the white hexagonal block to fit firmly onto the target peg."}
+{"subtask_index": 1259, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: place: Right hand places the white cylindrical block onto the purple rod of the wooden base."}
+{"subtask_index": 1260, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table."}
+{"subtask_index": 1261, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the white ring from the table and transports it to the position above the purple rod on the wooden base."}
+{"subtask_index": 1262, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: place: Right hand places the white ring onto the purple rod on the wooden base with slight downward adjustment."}
+{"subtask_index": 1263, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: place_release: Right hand places the white ring onto the purple rod on the wooden base and releases the ring."}
+{"subtask_index": 1264, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves toward the white ring on the black table surface."}
+{"subtask_index": 1265, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, fingers close to adjust and form a stable grip."}
+{"subtask_index": 1266, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it towards the purple rod on the wooden base."}
+{"subtask_index": 1267, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand aligns the inner hole of the white hexagonal block with the top of the purple rod."}
+{"subtask_index": 1268, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: place: Right hand lowers the white hexagonal block onto the purple rod until the block is fully seated on the rod."}
+{"subtask_index": 1269, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: press: Right hand presses the white block with purple top on the rightmost column of the wooden base."}
+{"subtask_index": 1270, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves downward towards the green cubic block on the black table surface."}
+{"subtask_index": 1271, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand closes its fingers to grasp the green cubic block on the black table."}
+{"subtask_index": 1272, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: release: Right hand releases the green block it is holding onto the right side of the table."}
+{"subtask_index": 1273, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: other:adjust_block_position: Right hand adjusts the position of the green block on the table with slight repeated touches and pushes."}
+{"subtask_index": 1274, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the green block from the table and transports it towards the rightmost test tube on the wooden rack."}
+{"subtask_index": 1275, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand aligns the green block with the rightmost test tube and fits it onto the test tube to complete assembly."}
+{"subtask_index": 1276, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: release: Right hand releases the green block which is now fitted on the test tube."}
+{"subtask_index": 1277, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: idle: Right hand remains empty at the upper right initial position without moving."}
+{"subtask_index": 1278, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves downward and leftward toward the green hexagonal block near the wooden base, with fingers extended as it approaches the target."}
+{"subtask_index": 1279, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand closes fingers around the green hexagonal block on the table, making minor adjustments to finger positions to form a grip."}
+{"subtask_index": 1280, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift: Right hand moves vertically upward, lifting the grasped green hexagonal block completely away from the table surface."}
+{"subtask_index": 1281, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: transport: Right hand carries the lifted green hexagonal block upward toward the wooden peg rack, positioning the block directly above an unoccupied purple peg."}
+{"subtask_index": 1282, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple peg, lowering the block to fit snugly onto the peg."}
+{"subtask_index": 1283, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple peg without any observable movement of the hand or block."}
+{"subtask_index": 1284, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves downward from the area above the wooden peg board toward the white hexagonal nut placed on the black table surface."}
+{"subtask_index": 1285, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand closes its fingers around the white hexagonal nut on the table to form a stable grip on the nut."}
+{"subtask_index": 1286, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward to a position directly above the empty purple peg on the wooden peg board."}
+{"subtask_index": 1287, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the target purple peg and lowers the nut to fit it onto the peg."}
+{"subtask_index": 1288, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: hold: Right hand holds the white hexagonal nut fitted on the purple peg without observable movement of the hand, fingers or the nut."}
+{"subtask_index": 1289, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate_release: Right hand holds the white hexagonal nut, fits it onto the purple rod on the light wooden base and releases the nut."}
+{"subtask_index": 1290, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves downward with an empty hand toward the front white hexagonal nut on the black table surface."}
+{"subtask_index": 1291, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand adjusts finger positions and closes fingers around the front white hexagonal nut on the black table to form a grip."}
+{"subtask_index": 1292, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal nut completely off the table and moves it upward to the position directly above the target purple rod on the wooden peg rack."}
+{"subtask_index": 1293, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand aligns the white hexagonal nut with the target purple rod and lowers the nut to fit onto the rod, establishing the assembly connection."}
+{"subtask_index": 1294, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: press: Right hand presses downward on the top of the topmost white hexagonal block on the purple peg of the assembly stand to secure it fully in place."}
+{"subtask_index": 1295, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves empty downward toward the white hexagonal block placed on the table directly in front of the assembly stand."}
+{"subtask_index": 1296, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand closes fingers around the target white hexagonal block on the table, adjusting finger contact positions to form a stable grasp."}
+{"subtask_index": 1297, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block completely off the table surface and moves it upward to position directly over the purple vertical rod on the wooden base."}
+{"subtask_index": 1298, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand adjusts the position and orientation of the white hexagonal block to align its central hole with the purple vertical rod, then lowers the block to fit it onto the rod until it rests securely on the lower stacked block."}
+{"subtask_index": 1299, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: release: Right hand gradually opens its fingers to release the fitted white hexagonal block, separating the hand from the assembled block."}
+{"subtask_index": 1300, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves downward from its initial position above the wooden block stand toward the green hexagonal block placed on the black table surface in front of the stand, with fingers held open."}
+{"subtask_index": 1301, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand closes its fingers around the green hexagonal block on the table to form a stable grip on the block."}
+{"subtask_index": 1302, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift_transport: Right hand lifts the gripped green hexagonal block completely off the table surface, then moves it upward to position directly above an empty purple vertical peg on the block stand."}
+{"subtask_index": 1303, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand makes small positional adjustments to the green hexagonal block to align its central hole with the purple peg, then lowers the block slightly in an attempt to fit it onto the peg before detecting misalignment."}
+{"subtask_index": 1304, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reorient: Right hand lifts the green hexagonal block slightly above the purple peg and rotates the block slightly to adjust its angular alignment for proper fitting onto the peg."}
+{"subtask_index": 1305, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand lowers the reoriented green hexagonal block down along the purple peg until the block rests securely on the white hexagonal block already positioned on the peg."}
+{"subtask_index": 1306, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: hold: Right hand holds the seated green hexagonal block on the purple peg without visible movement of the hand or the block."}
+{"subtask_index": 1307, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: release: Right hand opens its fingers gradually to release the grip on the green hexagonal block positioned on the purple peg."}
+{"subtask_index": 1308, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves empty downward from the assembly rack toward the white hexagonal block resting on the table near the green block."}
+{"subtask_index": 1309, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand closes fingers around the target white hexagonal block on the table, adjusting finger contact positions to establish a stable grasp."}
+{"subtask_index": 1310, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift: Right hand holds the white hexagonal nut resting on the table surface, lifts it upward until the nut is completely separated from the table."}
+{"subtask_index": 1311, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: transport: Right hand carries the lifted white hexagonal nut, moves it toward the wooden assembly base until it is positioned directly above the purple post."}
+{"subtask_index": 1312, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple post, makes slight finger and wrist adjustments to stabilize grip, and lowers the nut to fit onto the post."}
+{"subtask_index": 1313, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: hold: Right hand holds the white hexagonal nut fitted on the purple post without any observable movement of the hand or the nut."}
+{"subtask_index": 1314, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves downward and slightly rightward toward the upper white hexagonal nut placed to the right of the wooden block base, with fingers held slightly open and no contact with the target nut."}
+{"subtask_index": 1315, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand makes contact with the upper white hexagonal nut on the table, closing fingers and making small positional adjustments to form a grip on the nut."}
+{"subtask_index": 1316, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: hold: Right hand holds the white hexagonal nut resting on the dark table surface to the right of the wooden block stand, with no visible movement of the hand or the nut."}
+{"subtask_index": 1317, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and transports it upward then leftward to the position directly above the purple rod mounted on the wooden block stand."}
+{"subtask_index": 1318, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: place: Right hand lowers the white hexagonal nut downward to place it onto the purple rod, fitting the nut over the rod until it rests stably on the stacked blocks beneath."}
+{"subtask_index": 1319, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: release: Right hand opens its fingers to release the placed white hexagonal nut, breaking contact with the nut surface."}
+{"subtask_index": 1320, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: retreat: Right hand moves while empty downward and rightward to retreat from the area adjacent to the placed nut on the wooden stand."}
+{"subtask_index": 1321, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves downward and slightly left from the position adjacent to the purple rod on the wooden block rack toward the small white hexagonal block resting on the dark table surface."}
+{"subtask_index": 1322, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand closes fingers around the small white hexagonal block on the dark table surface to establish a grip, with the block remaining in contact with the table surface."}
+{"subtask_index": 1323, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: hold: Right hand holds the white hexagonal block on the dark table surface near the green block without moving."}
+{"subtask_index": 1324, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and transports it upward to position above the purple peg on the wooden block rack."}
+{"subtask_index": 1325, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand adjusts the position of the white hexagonal block to align with and mate onto the purple peg on the wooden block rack."}
+{"subtask_index": 1326, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: release: Right hand opens its fingers to release the mated white hexagonal block from its grasp."}
+{"subtask_index": 1327, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves diagonally downward and rightward across the dark table surface toward the green square block, with the index finger extended and no contact with the target block."}
+{"subtask_index": 1328, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand makes contact with the green square block on the table, adjusting finger positions and closing fingers around the block to establish a grasp, with continuous slight finger movements during the period."}
+{"subtask_index": 1329, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift: Right hand holds the green square block and lifts it upward from the dark table surface."}
+{"subtask_index": 1330, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: transport: Right hand carries the green square block upward and leftward to the area above the purple peg on the wooden block holder."}
+{"subtask_index": 1331, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand adjusts the position and orientation of the green square block, aligns its central hole with the purple peg, and gradually lowers the block to fit onto the peg with small wrist and finger adjustments."}
+{"subtask_index": 1332, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: place: Right hand lowers the green square block fully onto the purple peg until the block is stably supported on the holder."}
+{"subtask_index": 1333, "subtask": "Left hand: other:adjust_hand_pose: Left hand slightly rotates its wrist and opens fingers while staying at the left side of the table, with no contact with any object. | Right hand: reach: Right hand moves leftward and downward from the right side of the table toward the green hexagonal nut on the left part of the table, with fingers open."}
+{"subtask_index": 1334, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: reach: Right hand moves leftward and downward from the right side of the table toward the green hexagonal nut on the left part of the table, with fingers open."}
+{"subtask_index": 1335, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: grasp: Right hand closes its fingers to grasp the green hexagonal nut on the table surface."}
+{"subtask_index": 1336, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: hold: Right hand holds the green hexagonal nut on the table without any movement."}
+{"subtask_index": 1337, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table, adjusting its fingers to form a stable grip."}
+{"subtask_index": 1338, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it upward and rightward to the position above the leftmost purple peg on the wooden base."}
+{"subtask_index": 1339, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: mate: Right hand aligns the green hexagonal block with the leftmost purple peg and fits the block onto the peg."}
+{"subtask_index": 1340, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: press: Right hand presses the green hexagonal block downward along the leftmost purple peg to seat it firmly."}
+{"subtask_index": 1341, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: hold: Right hand holds the green hexagonal block on the leftmost purple peg without moving."}
+{"subtask_index": 1342, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: release_retreat: Right hand releases the green hexagonal block while moving slightly upward away from the peg."}
+{"subtask_index": 1343, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: reach: Right hand moves downward from the wooden peg board area toward the white hexagonal piece on the table, without contacting the piece."}
+{"subtask_index": 1344, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: grasp: Right hand closes its fingers around the white hexagonal piece on the table and adjusts its grip to form a stable grasp."}
+{"subtask_index": 1345, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal piece off the table and moves it upward and toward the wooden peg board to position above the target peg."}
+{"subtask_index": 1346, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: mate: Right hand aligns the white hexagonal piece with the target peg on the wooden board and lowers it onto the peg, making fine adjustments to the assembly position."}
+{"subtask_index": 1347, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal object from the table and transports it to the upper left of the wooden peg rack."}
+{"subtask_index": 1348, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: mate: Right hand aligns the white hexagonal object with the leftmost purple peg of the wooden rack and fits it onto the peg."}
+{"subtask_index": 1349, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: press: Right hand presses the white hexagonal object downward along the purple peg to adjust its position."}
+{"subtask_index": 1350, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: hold: Right hand holds the white hexagonal object on the leftmost purple peg of the wooden rack without moving."}
+{"subtask_index": 1351, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: release: Right hand releases the white cylindrical block on the rightmost purple peg, with fingers opening from closed position."}
+{"subtask_index": 1352, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the table near the peg base."}
+{"subtask_index": 1353, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing around the block to adjust the grip."}
+{"subtask_index": 1354, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it toward the purple peg on the wooden base."}
+{"subtask_index": 1355, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg and adjusts its vertical position along the peg repeatedly."}
+{"subtask_index": 1356, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: release: Right hand releases the white hollow cylinder on the purple peg of the wooden base, with fingers opening from a closed grip."}
+{"subtask_index": 1357, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: reach: Right hand moves downward toward the green hollow block on the black table surface."}
+{"subtask_index": 1358, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: grasp: Right hand grasps the green hollow block on the table, with fingers closing and adjusting to form a stable grip."}
+{"subtask_index": 1359, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: hold: Right hand holds the green hollow block on the table without moving."}
+{"subtask_index": 1360, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: grasp: Right hand grasps the green hexagonal block on the black worktable, with fingers adjusting to form a stable grip."}
+{"subtask_index": 1361, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the worktable and transports it to the position above the purple peg on the wooden base."}
+{"subtask_index": 1362, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: mate: Right hand mates the green hexagonal block with the purple peg on the wooden base, adjusting the block's position to fit onto the peg."}
+{"subtask_index": 1363, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: release: Right hand releases the white cylindrical block on the wooden base with fingers opening."}
+{"subtask_index": 1364, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: reach: Right hand moves downward to reach the white hexagonal block on the black table."}
+{"subtask_index": 1365, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing and adjusting."}
+{"subtask_index": 1366, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it upward toward the target peg on the wooden base."}
+{"subtask_index": 1367, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: mate: Right hand aligns and fits the white hexagonal block onto the target vertical peg on the wooden base."}
+{"subtask_index": 1368, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: mate_release: Right hand fits the white hollow hexagonal cylinder onto the purple vertical rod on the wooden base and releases the cylinder."}
+{"subtask_index": 1369, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: reach: Right hand moves downward toward the white hollow hexagonal block on the black table surface."}
+{"subtask_index": 1370, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: grasp: Right hand grasps the white hollow hexagonal block on the black table surface with fingers closing and adjusting around it."}
+{"subtask_index": 1371, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it toward the top of the rightmost white column on the wooden base."}
+{"subtask_index": 1372, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: mate: Right hand mates the white hexagonal block with the top of the rightmost white column by aligning and pressing it down onto the column top."}
+{"subtask_index": 1373, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: release: Right hand releases the white hexagonal block, with fingers opening to separate from the block on top of the rightmost white column."}
+{"subtask_index": 1374, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: grasp: Right hand grasps the white hexagonal block on top of the rightmost white column again, with fingers closing around the block."}
+{"subtask_index": 1375, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: lift: Right hand lifts the white hexagonal block upward to separate it from the top of the rightmost white column."}
+{"subtask_index": 1376, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: transport: Right hand transports the white hexagonal block downward and leftward to the position above the purple rod on the wooden base."}
+{"subtask_index": 1377, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod by aligning and lowering it onto the purple rod."}
+{"subtask_index": 1378, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: release: Right hand releases the white cylindrical block on the top-right peg of the wooden base, with fingers opening gradually from a closed grasp position."}
+{"subtask_index": 1379, "subtask": "Left hand: idle: Left hand remains empty and still at the left side of the table. | Right hand: reach: Right hand moves downward and rightward in the air toward the white hexagonal block on the table at the lower right area."}
+{"subtask_index": 1380, "subtask": "Left hand: other:finger_extend: Left hand extends its fingers slightly while keeping its overall position unchanged at the left side of the wooden base. | Right hand: reach: Right hand moves downward and rightward in the air toward the white hexagonal block on the table at the lower right area."}
+{"subtask_index": 1381, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the wooden base, with fingers extended upward. | Right hand: reach: Right hand moves downward and rightward in the air toward the white hexagonal block on the table at the lower right area."}
+{"subtask_index": 1382, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the wooden base, with fingers extended upward. | Right hand: grasp: Right hand grasps the white hexagonal block on the lower right table, with fingers closing around the block to form a stable grip."}
+{"subtask_index": 1383, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the wooden base, with fingers extended upward. | Right hand: hold: Right hand holds the white hexagonal block on the right side of the table without moving."}
+{"subtask_index": 1384, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the wooden base, with fingers extended upward. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it toward the purple peg on the wooden tray."}
+{"subtask_index": 1385, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the wooden base, with fingers extended upward. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg on the wooden tray and fits it onto the peg."}
+{"subtask_index": 1386, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the wooden base, with fingers extended upward. | Right hand: hold: Right hand holds the white hexagonal block on the purple peg without moving."}
+{"subtask_index": 1387, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the wooden base, with fingers extended upward. | Right hand: release: Right hand releases the white bottle with purple cap at the rightmost bottom position of the wooden rack, fingers open to separate from the bottle."}
+{"subtask_index": 1388, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the wooden base, with fingers extended upward. | Right hand: reach: Right hand moves downward toward the green cubic block on the dark table surface, without making contact with the block."}
+{"subtask_index": 1389, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the wooden base, with fingers extended upward. | Right hand: grasp_reorient: Right hand grasps the green cubic block and rotates it approximately a quarter turn to adjust its posture on the table."}
+{"subtask_index": 1390, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the wooden base, with fingers extended upward. | Right hand: release: Right hand releases the green cubic block, fingers open to separate from the block."}
+{"subtask_index": 1391, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the wooden base, with fingers extended upward. | Right hand: idle: Right hand remains empty above the green cubic block without moving."}
+{"subtask_index": 1392, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the wooden base, with fingers extended upward. | Right hand: reach: Right hand reaches downward toward the green cubic block on the table."}
+{"subtask_index": 1393, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the wooden base, with fingers extended upward. | Right hand: grasp_push: Right hand grasps the green cubic block and pushes it along the table surface toward the lower right direction."}
+{"subtask_index": 1394, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the wooden base, with fingers extended upward. | Right hand: hold: Right hand holds the green cubic block on the table without moving."}
+{"subtask_index": 1395, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the wooden base, with fingers extended upward. | Right hand: idle: Right hand remains empty beside the green cubic block without moving."}
+{"subtask_index": 1396, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the wooden base, with fingers extended upward. | Right hand: reach: Right hand reaches toward the green cubic block on the table."}
+{"subtask_index": 1397, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the wooden base, with fingers extended upward. | Right hand: grasp_reorient: Right hand grasps the green cubic block and rotates it about half a turn to adjust its posture on the table."}
+{"subtask_index": 1398, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the wooden base, with fingers extended upward. | Right hand: release: Right hand releases the green cubic block and adjusts its position slightly on the table."}
+{"subtask_index": 1399, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the wooden base, with fingers extended upward. | Right hand: grasp_reorient: Right hand grasps the green cubic block and rotates it slightly to adjust its posture on the table."}
+{"subtask_index": 1400, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the wooden base, with fingers extended upward. | Right hand: grasp: Right hand grasps the green cubic block on the table, fingers close around the block to establish stable grip."}
+{"subtask_index": 1401, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the wooden base, with fingers extended upward. | Right hand: lift: Right hand lifts the green square ring upward until it is fully separated from the table surface."}
+{"subtask_index": 1402, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the wooden base, with fingers extended upward. | Right hand: transport: Right hand transports the green square ring leftward and upward to the area above the 3x3 bottle set."}
+{"subtask_index": 1403, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the wooden base, with fingers extended upward. | Right hand: mate: Right hand aligns the green square ring with a back-row bottle and adjusts its position to attempt fitting the ring onto the bottle."}
+{"subtask_index": 1404, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the wooden base, with fingers extended upward. | Right hand: transport: Right hand transports the green square ring slightly upward and leftward to the area above a middle-row bottle."}
+{"subtask_index": 1405, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the wooden base, with fingers extended upward. | Right hand: mate: Right hand aligns the green square ring with the middle-row bottle and makes fine position adjustments to attempt fitting."}
+{"subtask_index": 1406, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the wooden base, with fingers extended upward. | Right hand: transport: Right hand transports the green square ring forward and leftward to the area above the front-left bottle."}
+{"subtask_index": 1407, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the wooden base, with fingers extended upward. | Right hand: mate: Right hand aligns the green square ring with the front-left bottle and adjusts position to attempt fitting."}
+{"subtask_index": 1408, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the wooden base, with fingers extended upward. | Right hand: transport: Right hand transports the green square ring rightward and backward to the area above the middle-column middle bottle."}
+{"subtask_index": 1409, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the wooden base, with fingers extended upward. | Right hand: mate: Right hand aligns the green square ring with the middle-column middle bottle and adjusts posture to attempt fitting."}
+{"subtask_index": 1410, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the wooden base, with fingers extended upward. | Right hand: transport: Right hand transports the green square ring backward to the area above the back-middle bottle."}
+{"subtask_index": 1411, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the wooden base, with fingers extended upward. | Right hand: mate: Right hand aligns the green square ring with the back-middle bottle and adjusts position to attempt fitting."}
+{"subtask_index": 1412, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the wooden base, with fingers extended upward. | Right hand: transport: Right hand transports the green square ring forward and rightward to the area above the front-right bottle."}
+{"subtask_index": 1413, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the wooden base, with fingers extended upward. | Right hand: mate: Right hand aligns the green square ring with the front-right bottle and presses it down until the ring is fully fitted onto the bottle."}
+{"subtask_index": 1414, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the wooden base, with fingers extended upward. | Right hand: release: Right hand releases the green square ring by opening its fingers, separating from the ring."}
+{"subtask_index": 1415, "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 hexagonal block placed in front of the wooden peg base on the table."}
+{"subtask_index": 1416, "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 establish a stable grasp on the green hexagonal block on the table."}
+{"subtask_index": 1417, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green block from the black table surface."}
+{"subtask_index": 1418, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green block towards the leftmost purple peg on the wooden base."}
+{"subtask_index": 1419, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the hole of the green block with the leftmost purple peg on the wooden base."}
+{"subtask_index": 1420, "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 block down onto the leftmost purple peg to fit it in place."}
+{"subtask_index": 1421, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the wooden base toward the white hexagonal block on the table."}
+{"subtask_index": 1422, "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 white hexagonal block on the table."}
+{"subtask_index": 1423, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block off the table surface."}
+{"subtask_index": 1424, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand carries the white hexagonal block to the position above the purple post on the wooden base."}
+{"subtask_index": 1425, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple post and fits it onto the post."}
+{"subtask_index": 1426, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block onto the purple pillar of the wooden base, until the block is stably supported."}
+{"subtask_index": 1427, "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 white hexagonal block on the black tabletop."}
+{"subtask_index": 1428, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to form a stable grip on the white hexagonal block on the black tabletop."}
+{"subtask_index": 1429, "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 white hexagonal block off the table and transports it to the position above the target purple post on the wooden base."}
+{"subtask_index": 1430, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the target purple post on the wooden base."}
+{"subtask_index": 1431, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block down onto the purple post until the block is stably supported by the post."}
+{"subtask_index": 1432, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block, with fingers opening to separate from the block."}
+{"subtask_index": 1433, "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 white cylindrical block on the table."}
+{"subtask_index": 1434, "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 grasp the white cylindrical block on the table."}
+{"subtask_index": 1435, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white cylindrical block off the table surface."}
+{"subtask_index": 1436, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand moves the white cylindrical block to the wooden base, aligns it with a purple peg and inserts it onto the peg."}
+{"subtask_index": 1437, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical block on the purple peg."}
+{"subtask_index": 1438, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the wooden peg base toward the green hexagonal block on the table."}
+{"subtask_index": 1439, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand touches the green hexagonal block on the table and adjusts fingers to form a stable grasp."}
+{"subtask_index": 1440, "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 green block and transports it towards the wooden peg base."}
+{"subtask_index": 1441, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green block onto a peg on the wooden base."}
+{"subtask_index": 1442, "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 green block from the peg and transports it to another adjacent peg."}
+{"subtask_index": 1443, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green block onto the target adjacent peg on the wooden base."}
+{"subtask_index": 1444, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylindrical block onto the peg on the wooden base."}
+{"subtask_index": 1445, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers adjusting around the block."}
+{"subtask_index": 1446, "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 white hexagonal block off the tabletop and moves it towards the wooden base with pegs."}
+{"subtask_index": 1447, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the target peg on the wooden base and inserts it onto the peg."}
+{"subtask_index": 1448, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses down the white hexagonal block along the peg to secure it in place."}
+{"subtask_index": 1449, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases its grasp on the white hexagonal block on the peg."}
+{"subtask_index": 1450, "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 wooden base after releasing the block."}
+{"subtask_index": 1451, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical block on the wooden rack."}
+{"subtask_index": 1452, "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 white hexagonal block on the tabletop."}
+{"subtask_index": 1453, "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 white hexagonal block on the tabletop."}
+{"subtask_index": 1454, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal ring from the black table surface."}
+{"subtask_index": 1455, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal ring towards the purple rod on the wooden base."}
+{"subtask_index": 1456, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal ring onto the purple rod."}
+{"subtask_index": 1457, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal ring fitted on the purple rod."}
+{"subtask_index": 1458, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats from the purple rod operating position."}
+{"subtask_index": 1459, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal cap onto the purple rod on the wooden base."}
+{"subtask_index": 1460, "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 white hexagonal cap on the black table surface."}
+{"subtask_index": 1461, "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 white hexagonal cap on the black table surface."}
+{"subtask_index": 1462, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the right side of the black table without moving."}
+{"subtask_index": 1463, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block towards the purple rod on the middle wooden base."}
+{"subtask_index": 1464, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod on the wooden base, adjusting its position to complete the fitting."}
+{"subtask_index": 1465, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white bottle placed on the wooden base."}
+{"subtask_index": 1466, "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 surface."}
+{"subtask_index": 1467, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green block on the table surface."}
+{"subtask_index": 1468, "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 green block and transports it to the top of the target white bottle on the wooden base."}
+{"subtask_index": 1469, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green block onto the top of the target white bottle to complete assembly."}
+{"subtask_index": 1470, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: idle: Right hand remains empty at the right home position without any observable movement."}
+{"subtask_index": 1471, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: reach: Right hand moves downward and leftward from the right home position toward the green hexagonal nut near the wooden block stand, remaining empty before contacting the target."}
+{"subtask_index": 1472, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand closes fingers and adjusts wrist pose to establish grip on the green hexagonal nut near the wooden block stand, with the nut still resting on the table surface."}
+{"subtask_index": 1473, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block off the table surface, transporting it upward to a position directly above the target purple peg on the wooden board."}
+{"subtask_index": 1474, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: mate: Right hand aligns the central hole of the held green hexagonal block with the target purple peg, lowering the block to fit onto the peg."}
+{"subtask_index": 1475, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple peg of the wooden board with no observable movement or adjustment."}
+{"subtask_index": 1476, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: place_release: Right hand holds the white hexagonal nut, moves downward to place it onto the top of the green block on the left peg, and opens fingers to release the nut and separate from it."}
+{"subtask_index": 1477, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: reach: Right hand moves downward toward the white hexagonal nut on the table surface while remaining empty, approaching the nut without establishing a grip."}
+{"subtask_index": 1478, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, making small adjustments to finger position to form a stable grip while the nut remains on the table surface."}
+{"subtask_index": 1479, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the table surface and carries it upward to position directly above the target purple peg on the pegboard."}
+{"subtask_index": 1480, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: mate: Right hand aligns the grasped white hexagonal nut with the purple peg, moves downward to fit the nut onto the peg, and makes slight alignment adjustments until the nut rests stably on the lower block by the end of the segment."}
+{"subtask_index": 1481, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: mate_release: Right hand holds the white-capped green bottle, aligns it with the purple peg on the wooden base, presses it into the assembled position, opening fingers to release the bottle."}
+{"subtask_index": 1482, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: reach: Right hand moves downward through empty space toward the white hexagonal nut on the black table surface to approach the target."}
+{"subtask_index": 1483, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, adjusting finger contact points to form a grip on the nut."}
+{"subtask_index": 1484, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table surface and moves it upward to position directly above the target purple rod on the wooden assembly rack."}
+{"subtask_index": 1485, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: mate: Right hand aligns the white hexagonal nut with the target purple rod, lowering it to fit over the rod and adjusting horizontal position to align with the green block below."}
+{"subtask_index": 1486, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: reorient: Right hand rotates the white hexagonal nut slightly to correct its tilted orientation on the purple rod, with minimal horizontal movement."}
+{"subtask_index": 1487, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: press: Right hand applies downward pressure to the white hexagonal nut along the purple rod, pressing it down to seat onto the green block beneath."}
+{"subtask_index": 1488, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: place: Right hand holds the white hexagonal block and positions it onto the top of the stacked structure on the wooden base until the block is stably supported."}
+{"subtask_index": 1489, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: reach: Right hand moves downward empty from the stacked blocks toward the white hexagonal block resting on the table in front of the wooden base."}
+{"subtask_index": 1490, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand closes fingers around the target white hexagonal block on the table, making fine adjustments to form a stable grasp."}
+{"subtask_index": 1491, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface and moves it upward to position it directly above the purple peg on the wooden base."}
+{"subtask_index": 1492, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: mate: Right hand aligns the held white hexagonal block with the purple peg, makes small positional adjustments, and lowers the block to fit it onto the peg."}
+{"subtask_index": 1493, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: release: Right hand releases the white cylindrical block placed on the purple peg, fingers opening to separate from the block."}
+{"subtask_index": 1494, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: reach: Right hand moves downward empty toward the front green hexagonal block on the black table surface."}
+{"subtask_index": 1495, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand adjusts finger contact and closes fingers around the green hexagonal block on the table to establish a stable grip."}
+{"subtask_index": 1496, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the green hexagonal block completely off the table surface and moves it upward and leftward to position it directly above the empty purple peg on the wooden pegboard base."}
+{"subtask_index": 1497, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: mate: Right hand makes small positional adjustments to the green hexagonal block to align its central hole with the purple peg, guiding the peg into the block's hole to achieve assembly alignment."}
+{"subtask_index": 1498, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: place: Right hand lowers the aligned green hexagonal block down along the purple peg until the block rests stably on the surface of the wooden pegboard base."}
+{"subtask_index": 1499, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: press_release: Right hand presses the purple cylindrical peg on the green block of the wooden pegboard and releases contact with the peg."}
+{"subtask_index": 1500, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: reach: Right hand moves empty downward toward the white hexagonal nut resting on the black table surface."}
+{"subtask_index": 1501, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the black table surface, adjusting finger contact positions to establish a grip on the nut."}
+{"subtask_index": 1502, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table and moves it upward to the position above the purple peg on the wooden assembly base."}
+{"subtask_index": 1503, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple peg on the wooden base and moves it downward to fit the nut onto the peg."}
+{"subtask_index": 1504, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: reach: Right hand moves downward from the stacked block assembly toward the closest white hexagonal block resting on the dark table surface."}
+{"subtask_index": 1505, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: grasp_lift: Right hand closes fingers around the white hexagonal block on the table to establish a stable grip, lifting the block a short distance upward to raise it completely off the dark table surface."}
+{"subtask_index": 1506, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: hold: Right hand holds the lifted white hexagonal block stationary above the table surface with no observable movement of the hand or block."}
+{"subtask_index": 1507, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand closes fingers to secure a stable grasp on the white hexagonal nut placed next to the wooden block tray."}
+{"subtask_index": 1508, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the black table surface and moves it upward to position directly above the purple rod on the wooden tray."}
+{"subtask_index": 1509, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple rod and lowers the nut to fit onto the rod, establishing the mated connection."}
+{"subtask_index": 1510, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: hold: Right hand holds the mated white hexagonal nut on the purple rod without any observable movement."}
+{"subtask_index": 1511, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: release: Right hand releases the white cylindrical block on the front right of the wooden rack, with fingers opening to separate from the block."}
+{"subtask_index": 1512, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: reach: Right hand moves down and right toward the white hexagonal nut on the black table surface, remaining empty without contacting the nut during movement."}
+{"subtask_index": 1513, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand adjusts finger positions around the white hexagonal nut on the table, closing fingers to establish contact and adjust grip on the nut."}
+{"subtask_index": 1514, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the dark table surface and moves it upward to the position above the purple post on the wooden block assembly."}
+{"subtask_index": 1515, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple post on the wooden base and lowers it to fit onto the post."}
+{"subtask_index": 1516, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: hold: Right hand holds the white hexagonal nut fitted on the purple post without any observable movement of the hand or the nut."}
+{"subtask_index": 1517, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: release: Right hand opens its fingers to release the grasp on the white hexagonal nut seated on the purple post."}
+{"subtask_index": 1518, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: retreat: Right hand moves away from the wooden block assembly with an empty hand after releasing the nut."}
+{"subtask_index": 1519, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: reach: Right hand moves downward toward the small green cube on the black table surface, with fingers open and no contact with the cube."}
+{"subtask_index": 1520, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand closes its fingers around the small green cube on the table to establish a stable grasp, while the cube remains on the table surface."}
+{"subtask_index": 1521, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: lift: Right hand lifts the grasped green cube upward until the cube is fully separated from the table surface."}
+{"subtask_index": 1522, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: transport: Right hand moves the lifted green cube upward and leftward to position it above the target white cylindrical peg on the wooden base."}
+{"subtask_index": 1523, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: mate: Right hand makes small positional adjustments and slight rotations to the green cube to align its central hole with the top of the target white peg, until the hole fits over the peg top."}
+{"subtask_index": 1524, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: place: Right hand lowers the aligned green cube downward along the peg until the cube rests securely on the peg, supported by the peg surface."}
+{"subtask_index": 1525, "subtask": "Left hand: other:adjust_hand_posture: Left hand rotates its wrist and spreads its fingers, remaining empty at the left side of the workspace without contacting any operating object. | Right hand: reach: Right hand moves leftward and downward from the right side of the workspace, approaching the green hexagonal block on the table with fingers open."}
+{"subtask_index": 1526, "subtask": "Left hand: idle: Left hand stays empty and motionless at the left side of the workspace. | Right hand: reach: Right hand moves leftward and downward from the right side of the workspace, approaching the green hexagonal block on the table with fingers open."}
+{"subtask_index": 1527, "subtask": "Left hand: idle: Left hand stays empty and motionless at the left side of the workspace. | Right hand: grasp: Right hand closes its fingers to grasp the green hexagonal block on the black table surface, with slight finger position adjustment."}
+{"subtask_index": 1528, "subtask": "Left hand: idle: Left hand stays empty and motionless at the left side of the workspace. | Right hand: hold: Right hand holds the green hexagonal block on the table surface without any movement."}
+{"subtask_index": 1529, "subtask": "Left hand: idle: Left hand stays empty and motionless at the left side of the workspace. | Right hand: grasp: Right hand grasps the green hexagonal block with a hole on the black table surface, with fingers closing to form a stable grip."}
+{"subtask_index": 1530, "subtask": "Left hand: idle: Left hand stays empty and motionless at the left side of the workspace. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and moves it to the position above the leftmost purple peg of the wooden board."}
+{"subtask_index": 1531, "subtask": "Left hand: idle: Left hand stays empty and motionless at the left side of the workspace. | Right hand: mate: Right hand mates the green hexagonal block onto the leftmost purple peg of the wooden board by lowering it along the peg."}
+{"subtask_index": 1532, "subtask": "Left hand: idle: Left hand stays empty and motionless at the left side of the workspace. | Right hand: hold: Right hand holds the green hexagonal block on the leftmost purple peg of the wooden board without moving."}
+{"subtask_index": 1533, "subtask": "Left hand: idle: Left hand stays empty and motionless at the left side of the workspace. | Right hand: release: Right hand releases the white annular part fitted on the purple peg of the wooden base."}
+{"subtask_index": 1534, "subtask": "Left hand: idle: Left hand stays empty and motionless at the left side of the workspace. | Right hand: reach: Right hand moves downward toward the white hexagonal part on the black table surface."}
+{"subtask_index": 1535, "subtask": "Left hand: idle: Left hand stays empty and motionless at the left side of the workspace. | Right hand: grasp: Right hand grasps the white hexagonal part on the black table surface with fingers closing and adjusting around it."}
+{"subtask_index": 1536, "subtask": "Left hand: idle: Left hand stays empty and motionless at the left side of the workspace. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table and transports it upward and rightward to position above the leftmost peg of the wooden rack."}
+{"subtask_index": 1537, "subtask": "Left hand: idle: Left hand stays empty and motionless at the left side of the workspace. | Right hand: mate: Right hand aligns the white hexagonal nut with the leftmost green peg on the wooden rack and lowers it onto the peg to complete the assembly fit."}
+{"subtask_index": 1538, "subtask": "Left hand: idle: Left hand stays empty and motionless at the left side of the workspace. | Right hand: release: Right hand gradually opens its fingers to release the white hexagonal nut from its grasp, while remaining positioned above the leftmost peg."}
+{"subtask_index": 1539, "subtask": "Left hand: idle: Left hand stays empty and motionless at the left side of the workspace. | Right hand: place_release: Right hand places the white hexagonal block onto the purple peg of the wooden rack and releases the block."}
+{"subtask_index": 1540, "subtask": "Left hand: idle: Left hand stays empty and motionless at the left side of the workspace. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}
+{"subtask_index": 1541, "subtask": "Left hand: idle: Left hand stays empty and motionless at the left side of the workspace. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, with fingers closing and adjusting to stabilize the grip."}
+{"subtask_index": 1542, "subtask": "Left hand: idle: Left hand stays empty and motionless at the left side of the workspace. | Right hand: hold: Right hand holds the white hexagonal block on the front part of the black table without moving."}
+{"subtask_index": 1543, "subtask": "Left hand: idle: Left hand stays empty and motionless at the left side of the workspace. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it above the front-left test tube of the wooden test tube rack."}
+{"subtask_index": 1544, "subtask": "Left hand: idle: Left hand stays empty and motionless at the left side of the workspace. | Right hand: mate: Right hand mates the white hexagonal block onto the front-left test tube by aligning the central hole with the test tube and lowering the block until it fits in place."}
+{"subtask_index": 1545, "subtask": "Left hand: idle: Left hand stays empty and motionless at the left side of the workspace. | Right hand: hold: Right hand holds the white hexagonal block on the front-left test tube without moving."}
+{"subtask_index": 1546, "subtask": "Left hand: idle: Left hand stays empty and motionless at the left side of the workspace. | Right hand: place_release: Right hand places the white cylindrical block onto the leftmost peg of the wooden base and releases the block with fingers opening."}
+{"subtask_index": 1547, "subtask": "Left hand: idle: Left hand stays empty and motionless at the left side of the workspace. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table in front of the wooden base."}
+{"subtask_index": 1548, "subtask": "Left hand: idle: Left hand stays empty and motionless at the left side of the workspace. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing around the block."}
+{"subtask_index": 1549, "subtask": "Left hand: idle: Left hand stays empty and motionless at the left side of the workspace. | Right hand: hold: Right hand holds the white hexagonal block on the black table without moving."}
+{"subtask_index": 1550, "subtask": "Left hand: idle: Left hand stays empty and motionless at the left side of the workspace. | Right hand: grasp: Right hand grasps the white hexagonal object on the black table surface, with fingers closing to form a stable grip while the object stays on the table."}
+{"subtask_index": 1551, "subtask": "Left hand: idle: Left hand stays empty and motionless at the left side of the workspace. | Right hand: lift_transport: Right hand lifts the white hexagonal object off the table and transports it upward to above the purple peg on the wooden base."}
+{"subtask_index": 1552, "subtask": "Left hand: idle: Left hand stays empty and motionless at the left side of the workspace. | Right hand: mate_release: Right hand aligns the white hexagonal object with the purple peg, fits it down onto the peg to complete assembly, and releases the object with opening fingers."}
+{"subtask_index": 1553, "subtask": "Left hand: idle: Left hand stays empty and motionless at the left side of the workspace. | Right hand: idle: Right hand remains empty above the wooden base without moving."}
+{"subtask_index": 1554, "subtask": "Left hand: idle: Left hand stays empty and motionless at the left side of the workspace. | Right hand: reach: Right hand moves downward from the pegboard area toward the green hexagonal part on the black table surface."}
+{"subtask_index": 1555, "subtask": "Left hand: idle: Left hand stays empty and motionless at the left side of the workspace. | Right hand: grasp: Right hand grasps the green hexagonal part on the table with fingers closing to form a stable grip."}
+{"subtask_index": 1556, "subtask": "Left hand: idle: Left hand stays empty and motionless at the left side of the workspace. | Right hand: hold: Right hand holds the green hexagonal part on the table surface without moving."}
+{"subtask_index": 1557, "subtask": "Left hand: idle: Left hand stays empty and motionless at the left side of the workspace. | Right hand: lift_transport: Right hand lifts the green hexagonal part off the table and transports it upward to the position above the middle purple peg of the pegboard."}
+{"subtask_index": 1558, "subtask": "Left hand: idle: Left hand stays empty and motionless at the left side of the workspace. | Right hand: place: Right hand places the green hexagonal part down along the middle purple peg until it rests on the white cylindrical part below."}
+{"subtask_index": 1559, "subtask": "Left hand: idle: Left hand stays empty and motionless at the left side of the workspace. | Right hand: mate_release: Right hand mates the white hexagonal sleeve onto the purple peg of the block set and releases it."}
+{"subtask_index": 1560, "subtask": "Left hand: idle: Left hand stays empty and motionless at the left side of the workspace. | Right hand: reach: Right hand moves downward toward the white hexagonal sleeve on the table."}
+{"subtask_index": 1561, "subtask": "Left hand: idle: Left hand stays empty and motionless at the left side of the workspace. | Right hand: idle: Right hand remains empty above the white hexagonal sleeve on the table without moving."}
+{"subtask_index": 1562, "subtask": "Left hand: idle: Left hand stays empty and motionless at the left side of the workspace. | Right hand: grasp: Right hand grasps the white hexagonal hollow part on the bottom right of the black table, with fingers adjusting to form a stable grip."}
+{"subtask_index": 1563, "subtask": "Left hand: idle: Left hand stays empty and motionless at the left side of the workspace. | Right hand: lift_transport: Right hand lifts the white hexagonal hollow part off the table and transports it upward and leftward to the top of the rightmost peg on the wooden base."}
+{"subtask_index": 1564, "subtask": "Left hand: idle: Left hand stays empty and motionless at the left side of the workspace. | Right hand: mate: Right hand aligns the white hexagonal hollow part with the rightmost peg and moves it downward to fit the part onto the peg."}
+{"subtask_index": 1565, "subtask": "Left hand: idle: Left hand stays empty and motionless at the left side of the workspace. | Right hand: hold: Right hand holds the white hexagonal hollow part that is fitted on the rightmost peg without moving."}
+{"subtask_index": 1566, "subtask": "Left hand: idle: Left hand stays empty and motionless at the left side of the workspace. | Right hand: release: Right hand releases the white cylindrical sleeve on the purple peg of the wooden base, with fingers opening gradually to separate from the object."}
+{"subtask_index": 1567, "subtask": "Left hand: idle: Left hand stays empty and motionless at the left side of the workspace. | Right hand: reach: Right hand moves downward and rightward toward the white hexagonal block on the black table, with fingers kept open."}
+{"subtask_index": 1568, "subtask": "Left hand: idle: Left hand stays empty and motionless at the left side of the workspace. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, with fingers closing around the block to form a stable grip."}
+{"subtask_index": 1569, "subtask": "Left hand: idle: Left hand stays empty and motionless at the left side of the workspace. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it towards the purple rod on the wooden base."}
+{"subtask_index": 1570, "subtask": "Left hand: idle: Left hand stays empty and motionless at the left side of the workspace. | Right hand: mate: Right hand mates the white hexagonal block with the top of the purple rod by aligning its hole with the rod."}
+{"subtask_index": 1571, "subtask": "Left hand: idle: Left hand stays empty and motionless at the left side of the workspace. | Right hand: place_release: Right hand slides the white hexagonal block down the purple rod onto the wooden base and releases the block."}
+{"subtask_index": 1572, "subtask": "Left hand: idle: Left hand stays empty and motionless at the left side of the workspace. | Right hand: mate: Right hand mates the white cylindrical block onto the purple rod in the rightmost column of the wooden base, adjusting the block position to fit properly."}
+{"subtask_index": 1573, "subtask": "Left hand: idle: Left hand stays empty and motionless at the left side of the workspace. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table surface next to the green block."}
+{"subtask_index": 1574, "subtask": "Left hand: idle: Left hand stays empty and motionless at the left side of the workspace. | Right hand: grasp: Right hand grasps the white hexagonal block on the table surface with fingers closing around the block."}
+{"subtask_index": 1575, "subtask": "Left hand: idle: Left hand stays empty and motionless at the left side of the workspace. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table surface and transports it upward to the purple rod in the rightmost column of the wooden base."}
+{"subtask_index": 1576, "subtask": "Left hand: idle: Left hand stays empty and motionless at the left side of the workspace. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod in the rightmost column of the wooden base, adjusting its position to complete the assembly."}
+{"subtask_index": 1577, "subtask": "Left hand: idle: Left hand stays empty and motionless at the left side of the workspace. | Right hand: place_release: Right hand places the white hollow cylindrical object onto the purple peg of the wooden rack and releases its grip."}
+{"subtask_index": 1578, "subtask": "Left hand: idle: Left hand stays empty and motionless at the left side of the workspace. | Right hand: reach: Right hand moves downward toward the green square block on the table surface."}
+{"subtask_index": 1579, "subtask": "Left hand: idle: Left hand stays empty and motionless at the left side of the workspace. | Right hand: grasp: Right hand grasps the green square block on the table surface with fingers closing."}
+{"subtask_index": 1580, "subtask": "Left hand: idle: Left hand stays empty and motionless at the left side of the workspace. | Right hand: lift: Right hand lifts the green square block upward until it completely leaves the table surface."}
+{"subtask_index": 1581, "subtask": "Left hand: idle: Left hand stays empty and motionless at the left side of the workspace. | Right hand: transport: Right hand transports the green square block leftward to the position above the rightmost white post on the wooden base."}
+{"subtask_index": 1582, "subtask": "Left hand: idle: Left hand stays empty and motionless at the left side of the workspace. | Right hand: mate: Right hand aligns the hole of the green square block with the rightmost white post and fits the block down onto the post."}
+{"subtask_index": 1583, "subtask": "Left hand: idle: Left hand stays empty and motionless at the left side of the workspace. | Right hand: release: Right hand releases the green square block on the post, with fingers opening to separate from the block."}
+{"subtask_index": 1584, "subtask": "Left hand: other:adjust_position: Left hand moves slightly forward to adjust its position at the left side of the table. | Right hand: reach: Right hand moves forward towards the green hexagonal block on the black table in front of the wooden peg base."}
+{"subtask_index": 1585, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves forward towards the green hexagonal block on the black table in front of the wooden peg base."}
+{"subtask_index": 1586, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand closes its fingers to form a stable grasp on the green hexagonal block."}
+{"subtask_index": 1587, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: hold: Right hand holds the green hexagonal block without any movement."}
+{"subtask_index": 1588, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand grasps the green block on the black table, adjusting fingers to form stable grip."}
+{"subtask_index": 1589, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it to the top of the purple rod on the wooden base."}
+{"subtask_index": 1590, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand mates the green block with the purple rod on the wooden base by inserting it down onto the rod."}
+{"subtask_index": 1591, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the black tabletop."}
+{"subtask_index": 1592, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand grasps the white hexagonal block on the black tabletop, adjusting fingers to form stable contact."}
+{"subtask_index": 1593, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal block and transports it to the top of the leftmost purple rod on the wooden base."}
+{"subtask_index": 1594, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand mates the white hexagonal block onto the leftmost purple rod by pushing it down along the rod."}
+{"subtask_index": 1595, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: release: Right hand releases the white hexagonal block after it is installed on the rod."}
+{"subtask_index": 1596, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand reaches downwards towards the white hexagonal block on the black table."}
+{"subtask_index": 1597, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table."}
+{"subtask_index": 1598, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it to the position above the leftmost purple post on the wooden base."}
+{"subtask_index": 1599, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand aligns the white hexagonal block with the leftmost purple post and inserts it onto the post."}
+{"subtask_index": 1600, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: release: Right hand releases the white hexagonal block that is fitted on the purple post."}
+{"subtask_index": 1601, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand mates the white cylindrical ring onto the top of the purple peg on the wooden base."}
+{"subtask_index": 1602, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table surface."}
+{"subtask_index": 1603, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand contacts the white hexagonal block on the table and adjusts fingers to form a stable grasp."}
+{"subtask_index": 1604, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it to the top of the purple rod on the wooden base."}
+{"subtask_index": 1605, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod by inserting the rod into the central hole of the block."}
+{"subtask_index": 1606, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: place_release: Right hand places and releases the white ring onto the purple peg on the wooden base."}
+{"subtask_index": 1607, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the table."}
+{"subtask_index": 1608, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table."}
+{"subtask_index": 1609, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table and transports it towards the wooden peg base."}
+{"subtask_index": 1610, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand mates the green hexagonal block onto the target peg on the wooden base."}
+{"subtask_index": 1611, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: release: Right hand releases the white hexagonal block on the wooden base peg."}
+{"subtask_index": 1612, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves downwards towards the white hexagonal block on the table surface."}
+{"subtask_index": 1613, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table surface."}
+{"subtask_index": 1614, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and moves it towards the purple peg on the wooden base."}
+{"subtask_index": 1615, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg and inserts it downwards onto the peg."}
+{"subtask_index": 1616, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: release: Right hand releases the white hexagonal block from its grasp."}
+{"subtask_index": 1617, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: place_release: Right hand places the white cylindrical block onto the peg of the wooden base and releases the block."}
+{"subtask_index": 1618, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}
+{"subtask_index": 1619, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the black table surface."}
+{"subtask_index": 1620, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it to the upper position of the purple rod on the wooden base."}
+{"subtask_index": 1621, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod by aligning and inserting it."}
+{"subtask_index": 1622, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: hold: Right hand holds the white hexagonal block on the purple rod without obvious movement."}
+{"subtask_index": 1623, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: release: Right hand releases the white hexagonal block, which slides down to the bottom of the purple rod."}
+{"subtask_index": 1624, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: place: Right hand places the white hexagonal block onto the peg of the wooden base and adjusts it to be stably supported."}
+{"subtask_index": 1625, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves downward towards the white hexagonal block placed on the black table surface."}
+{"subtask_index": 1626, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the tabletop and moves it towards the purple rod on the wooden base."}
+{"subtask_index": 1627, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and fits it onto the rod."}
+{"subtask_index": 1628, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: release: Right hand releases the white hexagonal block, fingers open to separate from the block."}
+{"subtask_index": 1629, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves downward towards the green block placed on the black table surface."}
+{"subtask_index": 1630, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand closes its fingers to form a stable grasp around the green block on the table."}
+{"subtask_index": 1631, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift: Right hand lifts the grasped green block completely off the table surface."}
+{"subtask_index": 1632, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: transport: Right hand carries the green block to the top area of the rightmost white bottle on the wooden base."}
+{"subtask_index": 1633, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand aligns the green block with the top of the rightmost white bottle and fits the block onto the bottle."}
+{"subtask_index": 1634, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: release: Right hand opens its fingers to release the green block from the grasp."}
+{"subtask_index": 1635, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: retreat: Right hand moves slightly away from the assembled green block and bottle."}
+{"subtask_index": 1636, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without any visible movement of the hand or fingers. | Right hand: reach: Right hand moves downward and leftward from its initial upper right position toward the green hexagonal block on the table in front of the left side of the wooden peg base, with fingers kept open during the movement."}
+{"subtask_index": 1637, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without any visible movement of the hand or fingers. | Right hand: grasp: Right hand makes contact with the target green hexagonal block on the table, closing fingers around the block and adjusting contact points to establish a grip, with the block remaining on the table surface."}
+{"subtask_index": 1638, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without any visible movement of the hand or fingers. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block off the table surface and transports it upward to the position directly above the purple peg on the wooden assembly base."}
+{"subtask_index": 1639, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without any visible movement of the hand or fingers. | Right hand: mate: Right hand aligns the inner hole of the green hexagonal block with the purple peg and lowers the block to fit onto the peg until it sits stably on the wooden base."}
+{"subtask_index": 1640, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without any visible movement of the hand or fingers. | Right hand: reach: Right hand moves downward from the area near the block rack toward the white hexagonal nut placed on the table, without contacting the target nut."}
+{"subtask_index": 1641, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without any visible movement of the hand or fingers. | Right hand: grasp: Right hand adjusts finger positions and closes fingers around the white hexagonal nut on the table to form a grip."}
+{"subtask_index": 1642, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without any visible movement of the hand or fingers. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the black table surface and moves it to the position directly above the purple peg on the wooden base, with fingers closed around the block."}
+{"subtask_index": 1643, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without any visible movement of the hand or fingers. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple peg and moves the block downward to nest it onto the peg until it rests on the green base."}
+{"subtask_index": 1644, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without any visible movement of the hand or fingers. | Right hand: hold: Right hand holds the white hexagonal block nested on the purple peg without noticeable movement of the hand or the block."}
+{"subtask_index": 1645, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without any visible movement of the hand or fingers. | Right hand: release: Right hand opens fingers to release the previously placed white hexagonal block on the wooden assembly base, separating from the block."}
+{"subtask_index": 1646, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without any visible movement of the hand or fingers. | Right hand: reach: Right hand moves downward with open fingers toward the white hexagonal nut resting on the black table surface in front of the assembly base."}
+{"subtask_index": 1647, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without any visible movement of the hand or fingers. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, making small adjustments to form a stable grasp."}
+{"subtask_index": 1648, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without any visible movement of the hand or fingers. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward to position it above the target purple peg on the wooden base."}
+{"subtask_index": 1649, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without any visible movement of the hand or fingers. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the target purple peg, making small wrist adjustments to slide the nut down the peg and complete the fitting."}
+{"subtask_index": 1650, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without any visible movement of the hand or fingers. | Right hand: hold: Right hand holds the fitted white hexagonal nut on the purple peg without any visible movement of the hand or the nut."}
+{"subtask_index": 1651, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without any visible movement of the hand or fingers. | Right hand: mate_release: Right hand aligns and seats the white hexagonal block onto the purple peg on the wooden rack, opening fingers to release the block."}
+{"subtask_index": 1652, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without any visible movement of the hand or fingers. | Right hand: reach: Right hand moves downward empty toward the white hexagonal block placed on the table adjacent to the wooden rack."}
+{"subtask_index": 1653, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without any visible movement of the hand or fingers. | Right hand: grasp: Right hand closes fingers around the target white hexagonal block on the table, making small adjustments to establish a stable grip."}
+{"subtask_index": 1654, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without any visible movement of the hand or fingers. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface and moves it to position directly above the purple vertical peg on the wooden base."}
+{"subtask_index": 1655, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without any visible movement of the hand or fingers. | Right hand: mate: Right hand aligns the white hexagonal block with the purple vertical peg and moves the block downward to nest it securely onto the peg."}
+{"subtask_index": 1656, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without any visible movement of the hand or fingers. | Right hand: release: Right hand opens its fingers to release the light purple cylindrical peg on the wooden assembly base, separating fully from the peg by the end of the segment."}
+{"subtask_index": 1657, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without any visible movement of the hand or fingers. | Right hand: reach: Right hand moves downward empty toward the green hexagonal nut placed on the black table surface in front of the assembly base."}
+{"subtask_index": 1658, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without any visible movement of the hand or fingers. | Right hand: grasp: Right hand contacts the target green hexagonal nut, adjusting finger positions and closing around the nut to form a stable grasp."}
+{"subtask_index": 1659, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without any visible movement of the hand or fingers. | Right hand: lift: Right hand lifts the grasped green hexagonal block upward from the black table surface."}
+{"subtask_index": 1660, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without any visible movement of the hand or fingers. | Right hand: transport: Right hand carries the green hexagonal block toward the wooden assembly stand, positioning the block directly above the purple vertical post."}
+{"subtask_index": 1661, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without any visible movement of the hand or fingers. | Right hand: mate: Right hand adjusts the position and orientation of the green hexagonal block to align its central hole with the purple post, then lowers the block to fit onto the post until it rests on the white block below."}
+{"subtask_index": 1662, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without any visible movement of the hand or fingers. | Right hand: idle: Right hand remains empty above the stacked block set without any obvious movement."}
+{"subtask_index": 1663, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without any visible movement of the hand or fingers. | Right hand: reach: Right hand moves downward with open fingers from the stacked block area toward the white hexagonal block placed on the front table surface."}
+{"subtask_index": 1664, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without any visible movement of the hand or fingers. | Right hand: grasp: Right hand closes fingers around the front white hexagonal block to establish a grip."}
+{"subtask_index": 1665, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without any visible movement of the hand or fingers. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward to the position directly above the purple rod on the wooden block assembly base."}
+{"subtask_index": 1666, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without any visible movement of the hand or fingers. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple rod on the block assembly base, makes slight positional adjustments, and lowers the nut to fit onto the rod."}
+{"subtask_index": 1667, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without any visible movement of the hand or fingers. | Right hand: reach: Right hand moves downward and rightward from above the stacked block assembly toward the closest white hexagonal nut placed on the dark table surface, with fingers held extended."}
+{"subtask_index": 1668, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without any visible movement of the hand or fingers. | Right hand: grasp: Right hand adjusts finger positions around the target white hexagonal nut, gradually closing the thumb and fingers to establish contact and form a grasp on the nut."}
+{"subtask_index": 1669, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without any visible movement of the hand or fingers. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface and moves it upward to a position above the purple rod on the wooden base."}
+{"subtask_index": 1670, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without any visible movement of the hand or fingers. | Right hand: mate: Right hand makes small positional adjustments to align the central hole of the white hexagonal block with the purple rod, positioning the block for assembly."}
+{"subtask_index": 1671, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without any visible movement of the hand or fingers. | Right hand: place: Right hand lowers the aligned white hexagonal block down along the purple rod until it rests stably on top of the lower stacked white block on the wooden base."}
+{"subtask_index": 1672, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without any visible movement of the hand or fingers. | Right hand: reach: Right hand moves downward toward the white hexagonal nut on the black table surface, staying empty and out of contact with the nut during the approach."}
+{"subtask_index": 1673, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without any visible movement of the hand or fingers. | Right hand: grasp: Right hand makes contact with the white hexagonal nut on the table, closing fingers around the nut and making small adjustments to establish a grip."}
+{"subtask_index": 1674, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without any visible movement of the hand or fingers. | Right hand: hold: Right hand holds the white hexagonal block above the right area of the table without moving."}
+{"subtask_index": 1675, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without any visible movement of the hand or fingers. | Right hand: transport: Right hand holds the white hexagonal block and moves it upwards and leftwards toward the purple rod on the wooden block stand."}
+{"subtask_index": 1676, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without any visible movement of the hand or fingers. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and moves it downwards to fit the block onto the rod."}
+{"subtask_index": 1677, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without any visible movement of the hand or fingers. | Right hand: release: Right hand opens fingers to release the light purple-topped white cylindrical bottle on the wooden storage rack, detaching from the bottle."}
+{"subtask_index": 1678, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without any visible movement of the hand or fingers. | Right hand: reach: Right hand moves diagonally down-right toward the green hollow square block on the dark table surface, remaining empty during movement."}
+{"subtask_index": 1679, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without any visible movement of the hand or fingers. | Right hand: grasp: Right hand closes thumb and fingers around the green hollow square block on the dark table surface, making small adjustments to establish grip."}
+{"subtask_index": 1680, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without any visible movement of the hand or fingers. | Right hand: lift: Right hand holds the green hexagonal block and lifts it upward off the dark table surface."}
+{"subtask_index": 1681, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without any visible movement of the hand or fingers. | Right hand: transport: Right hand carries the green hexagonal block upward and leftward toward the white hexagonal block rack."}
+{"subtask_index": 1682, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without any visible movement of the hand or fingers. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple post on the rack, making small positional adjustments to fit over the post."}
+{"subtask_index": 1683, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without any visible movement of the hand or fingers. | Right hand: place: Right hand lowers the green hexagonal block down along the purple post until the block rests stably on the supporting white block below."}
+{"subtask_index": 1684, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without any visible movement of the hand or fingers. | Right hand: release: Right hand opens its fingers to release the stably placed green hexagonal block on the rack."}
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+  "video_frames": {
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+    "observation.images.tactile_deform": 84118,
+    "observation.images.tactile_raw": 84118
+  },
+  "tcp_validation": "Exact float32 equality with each source arm TCP dataset sampled by its own aligned_index",
+  "language_loaded": 30
+}
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