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{"label": "subtasks", "start_step": 885, "end_step": 992, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains at the left edge of the visible frame, empty and without any observable movement throughout the segment."}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 74, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains at the left edge of the visible frame, empty and without any observable movement throughout the segment. | Right hand: idle: Right hand stays at the top-right edge of the frame, empty and without observable movement toward the target object."}, {"label": "subtasks", "start_step": 75, "end_step": 141, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains at the left edge of the visible frame, empty and without any observable movement throughout the segment. | Right hand: reach: Right hand moves downward from the top-right edge of the frame toward the wooden handle of the 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"Left hand: idle: Left hand remains at the left edge of the visible frame, empty and without any observable movement throughout the segment. | Right hand: place: Right hand lowers the hammer and aligns its yellow head over the red peg on the toy, until the hammer head rests on the peg and the lower handle end contacts the mat for stable support."}, {"label": "subtasks", "start_step": 420, "end_step": 479, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains at the left edge of the visible frame, empty and without any observable movement throughout the segment. | Right hand: grasp: Right hand adjusts finger positions on the wooden hammer handle to form a stable grip, slightly shifting the handle to align the yellow hammer head with the red peg on the wooden pegboard."}, {"label": "subtasks", "start_step": 480, "end_step": 667, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains at the left edge of the visible frame, empty and without 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its fingers to establish grasp on the hammer's head."}, {"label": "subtasks", "start_step": 135, "end_step": 179, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without moving. | Right hand: grasp: Right hand grasps the wooden handle of the yellow hammer, with fingers closing and adjusting to firm the grip."}, {"label": "subtasks", "start_step": 180, "end_step": 239, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without moving."}, {"label": "subtasks", "start_step": 240, "end_step": 261, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without moving. | Right hand: transport_place: Right hand carries the yellow hammer rightward with slight clockwise rotation and places it flat on the black table surface."}, {"label": "subtasks", "start_step": 262, "end_step": 284, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without moving. | Right hand: release_retreat: Right hand releases the yellow hammer handle and retreats toward the upper right direction."}, {"label": "subtasks", "start_step": 285, "end_step": 359, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without moving. | Right hand: release_retreat: Right hand releases the yellow hammer on the black textured mat and moves upward to exit the frame."}, {"label": "home", "start_step": 325, "end_step": 472, "id": "P-Mf1mPqYi6pcDd6_mnrP"}, {"label": "subtasks", "start_step": 360, "end_step": 404, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without moving."}, {"label": "subtasks", "start_step": 405, "end_step": 419, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the 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"end_step": 471, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without moving. | Right hand: retreat: Right hand moves slightly to the right away from the wooden handle of the yellow hammer."}, {"label": "subtasks", "start_step": 472, "end_step": 472, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without moving."}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 7, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without moving. | Right hand: other:out_of_frame: Right hand is not visible outside the right edge of the frame."}, {"label": "subtasks", "start_step": 8, "end_step": 74, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without moving. | Right hand: reach: Right hand enters the frame from 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adjustment."}, {"label": "subtasks", "start_step": 660, "end_step": 695, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without moving. | Right hand: hold: Right hand holds the yellow head of the wooden mallet steadily on the black textured mat, with no observable movement of the hand or mallet."}], "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 edge of the frame without moving. | Right hand: idle: Right hand remains empty at the top-right edge of the frame without moving."}, {"label": "subtasks", "start_step": 52, "end_step": 179, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without moving. | Right hand: reach: Right hand moves downward from the top-right edge of the frame toward the wooden hammer with a yellow head placed on the right side of the black work surface, staying empty without establishing a grasp on the hammer."}, {"label": "subtasks", "start_step": 180, "end_step": 201, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without moving. | Right hand: reach: Right hand moves left toward the wooden handle of the yellow hammer resting on the black work surface, with fingers held open and no contact made with the handle."}, {"label": "subtasks", "start_step": 202, "end_step": 299, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without moving. | Right hand: grasp: Right hand makes initial light contact with the wooden handle of the yellow hammer, closes fingers around the handle and performs slight adjustments to hand and finger positions to establish a grip, with the hammer remaining on the black support surface."}, {"label": "subtasks", "start_step": 300, "end_step": 344, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without moving. | Right hand: lift: Right hand firmly grasps the wooden handle of the yellow hammer and lifts the hammer upward from the black work surface until the entire hammer is fully lifted off the surface."}, {"label": "subtasks", "start_step": 345, "end_step": 389, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without moving. | Right hand: transport: Right hand carries the fully lifted yellow hammer upward, while rotating the wrist to turn the hammer about a quarter turn to adjust its orientation."}, {"label": "subtasks", "start_step": 390, "end_step": 457, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without moving. | Right hand: place: Right hand holds the yellow hammer and moves it downward to lower the yellow hammer head 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"start_step": 45, "end_step": 149, "id": "reasoning-language-00001", "text": "Right hand: reach: Right hand enters from the right side of the frame and moves toward the yellow hammer with wooden handle on the black mat."}, {"label": "subtasks", "start_step": 150, "end_step": 179, "id": "reasoning-language-00002", "text": "Right hand: grasp: Right hand closes its fingers to grasp the wooden handle of the yellow hammer."}, {"label": "subtasks", "start_step": 180, "end_step": 231, "id": "reasoning-language-00003", "text": "Right hand: grasp: Right hand adjusts fingers to grasp the wooden handle of the yellow hammer on the black mat."}, {"label": "goal", "start_step": 226, "end_step": 490, "id": "27cfc79a-542a-4760-9edd-5f07674df32e"}, {"label": "subtasks", "start_step": 232, "end_step": 247, "id": "reasoning-language-00004", "text": "Right hand: lift: Right hand lifts the yellow hammer off the black mat."}, {"label": "subtasks", "start_step": 248, "end_step": 299, "id": 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"reasoning-language-00014", "text": "Right hand: transport: Right hand moves the yellow hammer upward away from the wooden base."}, {"label": "subtasks", "start_step": 622, "end_step": 681, "id": "reasoning-language-00015", "text": "Right hand: press: Right hand moves the yellow hammer downward to press the green peg on the wooden base."}, {"label": "subtasks", "start_step": 682, "end_step": 704, "id": "reasoning-language-00016", "text": "Right hand: transport: Right hand moves the yellow hammer upward away from the wooden base."}, {"label": "goal", "start_step": 701, "end_step": 825, "id": "12ff6fb5-fd9d-45e1-a25e-f847b165deff"}, {"label": "subtasks", "start_step": 705, "end_step": 809, "id": "reasoning-language-00017", "text": "Right hand: transport: Right hand holds the yellow hammer and moves it rightward above the black mat."}, {"label": "subtasks", "start_step": 810, "end_step": 824, "id": "reasoning-language-00018", "text": "Right hand: place_release: Right hand places the 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Right hand moves upward to lift the grasped wooden mallet, raising the entire mallet completely off the black supporting mat."}, {"label": "subtasks", "start_step": 285, "end_step": 367, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without moving. | Right hand: transport: Right hand carries the suspended wooden mallet through the air toward the wooden peg board, positioning the yellow mallet head directly above the red peg on the board."}, {"label": "subtasks", "start_step": 368, "end_step": 419, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without moving. | Right hand: place: Right hand moves the wooden mallet downward to place the yellow mallet head onto the red peg mounted on the wooden peg board."}, {"label": "subtasks", "start_step": 420, "end_step": 501, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without moving. | Right hand: grasp: Right hand adjusts finger positions along the lower section of the wooden mallet handle, shifting contact points to begin establishing a stable grip on the mallet."}, {"label": "subtasks", "start_step": 502, "end_step": 531, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without moving. | Right hand: hold: Right hand holds the wooden mallet steadily, with no observable finger, wrist or mallet movement."}, {"label": "subtasks", "start_step": 532, "end_step": 667, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without moving. | Right hand: grasp: Right hand continues adjusting finger positions further up the wooden mallet handle, repositioning contact points to finalize a stable grip on the mallet."}, {"label": "subtasks", "start_step": 668, "end_step": 704, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without moving. | Right hand: reorient: Right hand rotates the gripped wooden mallet around the pivot of its handle end resting on the black work surface, tilting the yellow mallet head downward toward the small peg on the wooden pegboard."}, {"label": "subtasks", "start_step": 705, "end_step": 719, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without moving. | Right hand: press: Right hand applies downward force on the gripped mallet, pressing the yellow mallet head against the small peg on the wooden pegboard."}, {"label": "subtasks", "start_step": 720, "end_step": 787, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without moving. | Right hand: lift_transport: Right hand grips the wooden mallet, lifts it off the left black surface and away from the peg toy, transports it rightward to the right area of the black surface, with the mallet's wooden lower end touching the surface at the end of the movement."}, {"label": "subtasks", "start_step": 788, "end_step": 824, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without moving. | Right hand: hold: Right hand holds the wooden mallet vertically upright on the right black surface without any observable movement or finger adjustment."}, {"label": "subtasks", "start_step": 825, "end_step": 854, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without moving. | Right hand: place_release: Right hand tilts the wooden mallet downward to place it flat and fully supported on the right black surface, opens fingers to release the mallet handle, and stays stationary with fingers resting on the mallet's yellow head."}, {"label": "subtasks", "start_step": 855, "end_step": 914, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without moving. | Right hand: retreat: Right hand moves upward away from the black table surface while empty, retreating out of the top edge of the frame."}, {"label": "subtasks", "start_step": 915, "end_step": 1029, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without moving."}], "episode_index": 97} +{"source_uid": "6f860cd2210bfa30", "num_frames": 690, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Hammer_Nails_v2", "tags": {"task_name": "Hammer_Nails_v2", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "B", "SOP": ""}, "segments": [{"label": "valid", "start_step": 0, "end_step": 541, "id": "ss6Vuu3hHzNwgJ7vsLjzK"}, {"label": "subtasks", "start_step": 75, "end_step": 134, "id": "reasoning-language-00001", "text": "Right hand: reach: Right hand moves down and left from the top right edge of the frame toward the yellow-headed hammer on the black mat."}, {"label": "subtasks", "start_step": 135, "end_step": 149, "id": "reasoning-language-00002", "text": "Right hand: grasp: Right hand grasps the upper handle of the yellow-headed hammer on the black mat with fingers closing around it."}, {"label": "subtasks", "start_step": 150, "end_step": 187, "id": "reasoning-language-00003", "text": "Right hand: grasp: Right hand grasps the wooden handle of the yellow hammer on the black mat, with fingers closing around the handle."}, {"label": "subtasks", "start_step": 188, "end_step": 224, "id": "reasoning-language-00004", "text": "Right hand: hold: Right hand holds the wooden handle of the yellow hammer on the black mat without moving."}, {"label": "subtasks", "start_step": 225, "end_step": 239, "id": "reasoning-language-00005", "text": "Right hand: grasp: Right hand adjusts its grip on the wooden handle of the yellow hammer resting on the black table surface to form a stable grasp."}, {"label": "subtasks", "start_step": 240, "end_step": 374, "id": "reasoning-language-00006", "text": "Right hand: lift_transport: Right hand lifts the yellow hammer off the black table surface, transports it leftward and rotates it to position the yellow hammer head above the red peg on the wooden board."}, {"label": "subtasks", "start_step": 375, "end_step": 389, "id": "reasoning-language-00007", "text": "Right hand: transport: Right hand moves the yellow hammer downward to make contact with the red peg on the wooden base."}, {"label": "subtasks", "start_step": 390, "end_step": 404, "id": "reasoning-language-00008", "text": "Right hand: hold: Right hand holds the yellow hammer with its head resting against the right side of the wooden toy without moving."}, {"label": "subtasks", "start_step": 405, "end_step": 441, "id": "reasoning-language-00009", "text": "Right hand: transport: Right hand holds the wooden handle of the yellow hammer and moves it rightward above the black table surface."}, {"label": "subtasks", "start_step": 442, "end_step": 471, "id": "reasoning-language-00010", "text": "Right hand: hold: Right hand holds the yellow hammer upright on the right area of the black table without moving."}, {"label": "subtasks", "start_step": 472, "end_step": 487, "id": "reasoning-language-00011", "text": "Right hand: reorient_release: Right hand rotates the yellow hammer about 90 degrees to lie flat on the right table area and releases its grip on the handle."}, {"label": "subtasks", "start_step": 488, "end_step": 509, "id": "reasoning-language-00012", "text": "Right hand: idle: Right hand remains empty next to the yellow hammer on the right without moving."}, {"label": "subtasks", "start_step": 510, "end_step": 554, "id": "reasoning-language-00013", "text": "Right hand: release_retreat: Right hand releases the yellow hammer on the black textured mat and moves upward toward the top right of the frame."}, {"label": "home", "start_step": 542, "end_step": 689, "id": "PbgQ1B4r9C5e7QOUfEidW"}, {"label": "subtasks", "start_step": 675, "end_step": 689, "id": "reasoning-language-00014", "text": "Right hand: grasp_lift: Right hand grasps the yellow head of the hammer on the right side of the black mat and lifts the head end of the hammer slightly upward."}], "language_segments": [{"label": "subtasks", "start_step": 75, "end_step": 134, "id": "reasoning-language-00001", "text": "Right hand: reach: Right hand moves down and left from the top right edge of the frame toward the yellow-headed hammer on the black mat."}, {"label": "subtasks", "start_step": 135, "end_step": 149, "id": "reasoning-language-00002", "text": "Right hand: grasp: Right hand grasps the upper handle of the yellow-headed hammer on the black mat with fingers closing around it."}, {"label": "subtasks", "start_step": 150, "end_step": 187, "id": "reasoning-language-00003", "text": "Right hand: grasp: Right hand grasps the wooden handle of the yellow hammer on the black mat, with fingers closing around the handle."}, {"label": "subtasks", "start_step": 188, "end_step": 224, "id": "reasoning-language-00004", "text": "Right hand: hold: Right hand holds the wooden handle of the yellow hammer on the black mat without moving."}, {"label": "subtasks", "start_step": 225, "end_step": 239, "id": "reasoning-language-00005", "text": "Right hand: grasp: Right hand adjusts its grip on the wooden handle of the yellow hammer resting on the black table surface to form a stable grasp."}, {"label": "subtasks", "start_step": 240, "end_step": 374, "id": "reasoning-language-00006", "text": "Right hand: lift_transport: Right hand lifts the yellow hammer off the black table surface, transports it leftward and rotates it to position the yellow hammer head above the red peg on the wooden board."}, {"label": "subtasks", "start_step": 375, "end_step": 389, "id": "reasoning-language-00007", "text": "Right hand: transport: Right hand moves the yellow hammer downward to make contact with the red peg on the wooden base."}, {"label": "subtasks", "start_step": 390, "end_step": 404, "id": "reasoning-language-00008", "text": "Right hand: hold: Right hand holds the yellow hammer with its head resting against the right side of the wooden toy without moving."}, {"label": "subtasks", "start_step": 405, "end_step": 441, "id": "reasoning-language-00009", "text": "Right hand: transport: Right hand holds the wooden handle of the yellow hammer and moves it rightward above the black table surface."}, {"label": "subtasks", "start_step": 442, "end_step": 471, "id": "reasoning-language-00010", "text": "Right hand: hold: Right hand holds the yellow hammer upright on the right area of the black table without moving."}, {"label": "subtasks", "start_step": 472, "end_step": 487, "id": "reasoning-language-00011", "text": "Right hand: reorient_release: Right hand rotates the yellow hammer about 90 degrees to lie flat on the right table area and releases its grip on the handle."}, {"label": "subtasks", "start_step": 488, "end_step": 509, "id": "reasoning-language-00012", "text": "Right hand: idle: Right hand remains empty next to the yellow hammer on the right without moving."}, {"label": "subtasks", "start_step": 510, "end_step": 554, "id": "reasoning-language-00013", "text": "Right hand: release_retreat: Right hand releases the yellow hammer on the black textured mat and moves upward toward the top right of the frame."}, {"label": "subtasks", "start_step": 675, "end_step": 689, "id": "reasoning-language-00014", "text": "Right hand: grasp_lift: Right hand grasps the yellow head of the hammer on the right side of the black mat and lifts the head end of the hammer slightly upward."}], "episode_index": 98} +{"source_uid": "5b5d222971f0607e", "num_frames": 1040, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Hammer_Nails_v2", "tags": {"task_name": "Hammer_Nails_v2", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "B", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 59, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty outside the visible operational area of the frame without moving. | Right hand: idle: Right hand remains empty outside the right edge of the frame without moving."}, {"label": "goal", "start_step": 0, "end_step": 260, "id": "d5739392-6177-4e8c-a36d-4f2dc5075be9"}, {"label": "valid", "start_step": 0, "end_step": 890, "id": "NiIT9X0SEoLeinCpRswde"}, {"label": "subtasks", "start_step": 60, "end_step": 149, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty outside the visible operational area of the frame without moving. | Right hand: reach: Right hand enters from the right edge of the frame, moves left toward the wooden mallet on the black textured mat with open fingers."}, {"label": "subtasks", "start_step": 150, "end_step": 277, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty outside the visible operational area of the frame without moving. | Right hand: grasp: Right hand closes fingers around the wooden handle of the mallet, adjusts finger positions to form a stable grip while the mallet remains resting on the mat."}, {"label": "goal", "start_step": 261, "end_step": 485, "id": "782317d8-87de-4ffc-a0ca-a4f1d416ab45"}, {"label": "subtasks", "start_step": 278, "end_step": 299, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty outside the visible operational area of the frame without moving. | Right hand: lift: Right hand lifts the grasped wooden mallet upward until the entire mallet is fully separated from the black supporting mat."}, {"label": "subtasks", "start_step": 300, "end_step": 404, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty outside the visible operational area of the frame without moving. | Right hand: transport: Right hand carries the lifted wooden mallet leftward toward the wooden peg toy, rotating the mallet to a vertical orientation as it moves to position the mallet head above the red peg on the toy."}, {"label": "subtasks", "start_step": 405, "end_step": 517, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty outside the visible operational area of the frame without moving. | Right hand: grasp: Right hand adjusts finger positions slightly to establish a stable grasp on the wooden mallet handle."}, {"label": "goal", "start_step": 486, "end_step": 670, "id": "e24aa4d1-4757-4a7a-ae62-3b09e6cb805f"}, {"label": "subtasks", "start_step": 518, "end_step": 531, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty outside the visible operational area of the frame without moving. | Right hand: lift: Right hand lifts the grasped wooden mallet upward, raising the mallet's bottom end completely off the black supporting surface."}, {"label": "subtasks", "start_step": 532, "end_step": 554, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty outside the visible operational area of the frame without moving. | Right hand: transport_press: Right hand moves the lifted wooden mallet downward toward the top of the red peg, and presses the mallet head against the red peg top to apply striking force."}, {"label": "subtasks", "start_step": 555, "end_step": 621, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty outside the visible operational area of the frame without moving. | Right hand: grasp: Right hand adjusts finger positions slightly to re-stabilize the grasp on the wooden mallet handle after the first strike."}, {"label": "subtasks", "start_step": 622, "end_step": 681, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty outside the visible operational area of the frame without moving. | Right hand: hold: Right hand holds the wooden mallet steadily without any observable hand, finger or mallet movement."}, {"label": "goal", "start_step": 671, "end_step": 870, "id": "393657b0-c4a6-4c63-8ef1-a7dbdf3d258d"}, {"label": "subtasks", "start_step": 682, "end_step": 779, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty outside the visible operational area of the frame without moving. | Right hand: transport_press: Right hand moves the held wooden mallet upward then downward toward the red peg top, and presses the mallet head against the red peg to drive it into the wooden base."}, {"label": "subtasks", "start_step": 780, "end_step": 794, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty outside the visible operational area of the frame without moving. | Right hand: lift: Right hand firmly holds the wooden mallet and lifts it upward to fully separate it from the wooden perforated platform."}, {"label": "subtasks", "start_step": 795, "end_step": 847, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty outside the visible operational area of the frame without moving. | Right hand: transport: Right hand carries the lifted wooden mallet, moving it horizontally rightward to the position directly above the right section of the black work surface."}, {"label": "subtasks", "start_step": 848, "end_step": 861, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty outside the visible operational area of the frame without moving. | Right hand: place_release: Right hand lowers the wooden mallet onto the black work surface, opens its fingers to release the mallet as the mallet rests stably on the surface."}, {"label": "subtasks", "start_step": 862, "end_step": 899, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty outside the visible operational area of the frame without moving. | Right hand: retreat: Right hand, now empty, moves upward and rightward away from the mallet placement position to the upper right of the visible area."}, {"label": "home", "start_step": 891, "end_step": 1039, "id": "xO6no0_u40A9lLCOmG9u8"}, {"label": "subtasks", "start_step": 900, "end_step": 1039, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty outside the visible operational area of the frame without moving. | Right hand: idle: Right hand stays empty and motionless at the upper right of the visible area with no observable movement."}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 59, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty outside the visible operational area of the frame without moving. | Right hand: idle: Right hand remains empty outside the right edge of the frame without moving."}, {"label": "subtasks", "start_step": 60, "end_step": 149, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty outside the visible operational area of the frame without moving. | Right hand: reach: Right hand enters from the right edge of the frame, moves left toward the wooden mallet on the black textured mat with open fingers."}, {"label": "subtasks", "start_step": 150, "end_step": 277, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty outside the visible operational area of the frame without moving. | Right hand: grasp: Right hand closes fingers around the wooden handle of the mallet, adjusts finger positions to form a stable grip while the mallet remains resting on the mat."}, {"label": "subtasks", "start_step": 278, "end_step": 299, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty outside the visible operational area of the frame without moving. | Right hand: lift: Right hand lifts the grasped wooden mallet upward until the entire mallet is fully separated from the black supporting mat."}, {"label": "subtasks", "start_step": 300, "end_step": 404, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty outside the visible operational area of the frame without moving. | Right hand: transport: Right hand carries the lifted wooden mallet leftward toward the wooden peg toy, rotating the mallet to a vertical orientation as it moves to position the mallet head above the red peg on the toy."}, {"label": "subtasks", "start_step": 405, "end_step": 517, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty outside the visible operational area of the frame without moving. | Right hand: grasp: Right hand adjusts finger positions slightly to establish a stable grasp on the wooden mallet handle."}, {"label": "subtasks", "start_step": 518, "end_step": 531, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty outside the visible operational area of the frame without moving. | Right hand: lift: Right hand lifts the grasped wooden mallet upward, raising the mallet's bottom end completely off the black supporting surface."}, {"label": "subtasks", "start_step": 532, "end_step": 554, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty outside the visible operational area of the frame without moving. | Right hand: transport_press: Right hand moves the lifted wooden mallet downward toward the top of the red peg, and presses the mallet head against the red peg top to apply striking force."}, {"label": "subtasks", "start_step": 555, "end_step": 621, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty outside the visible operational area of the frame without moving. | Right hand: grasp: Right hand adjusts finger positions slightly to re-stabilize the grasp on the wooden mallet handle after the first strike."}, {"label": "subtasks", "start_step": 622, "end_step": 681, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty outside the visible operational area of the frame without moving. | Right hand: hold: Right hand holds the wooden mallet steadily without any observable hand, finger or mallet movement."}, {"label": "subtasks", "start_step": 682, "end_step": 779, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty outside the visible operational area of the frame without moving. | Right hand: transport_press: Right hand moves the held wooden mallet upward then downward toward the red peg top, and presses the mallet head against the red peg to drive it into the wooden base."}, {"label": "subtasks", "start_step": 780, "end_step": 794, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty outside the visible operational area of the frame without moving. | Right hand: lift: Right hand firmly holds the wooden mallet and lifts it upward to fully separate it from the wooden perforated platform."}, {"label": "subtasks", "start_step": 795, "end_step": 847, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty outside the visible operational area of the frame without moving. | Right hand: transport: Right hand carries the lifted wooden mallet, moving it horizontally rightward to the position directly above the right section of the black work surface."}, {"label": "subtasks", "start_step": 848, "end_step": 861, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty outside the visible operational area of the frame without moving. | Right hand: place_release: Right hand lowers the wooden mallet onto the black work surface, opens its fingers to release the mallet as the mallet rests stably on the surface."}, {"label": "subtasks", "start_step": 862, "end_step": 899, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty outside the visible operational area of the frame without moving. | Right hand: retreat: Right hand, now empty, moves upward and rightward away from the mallet placement position to the upper right of the visible area."}, {"label": "subtasks", "start_step": 900, "end_step": 1039, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty outside the visible operational area of the frame without moving. | Right hand: idle: Right hand stays empty and motionless at the upper right of the visible area with no observable movement."}], "episode_index": 99} +{"source_uid": "a3afc46db508b092", "num_frames": 1166, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Hammer_Nails_v2", "tags": {"task_name": "Hammer_Nails_v2", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "B", "SOP": ""}, "segments": [{"label": "goal", "start_step": 0, "end_step": 315, "id": "a80fcd44-2b0c-43c4-a1d6-fe29eae52fe7"}, {"label": "valid", "start_step": 0, "end_step": 1017, "id": "1SdLrNvaPh15xzEmVOT9Z"}, {"label": "subtasks", "start_step": 75, "end_step": 164, "id": "reasoning-language-00001", "text": "Right hand: reach: Right hand moves downward from the top right edge of the frame toward the wooden handle of the yellow-headed hammer, with fingers held slightly open as it approaches the target without making contact."}, {"label": "subtasks", "start_step": 165, "end_step": 284, "id": "reasoning-language-00002", "text": "Right hand: grasp: Right hand makes initial contact with the wooden handle of the hammer, closes fingers around the handle, and makes small positional adjustments to the fingers to establish a secure grip while the hammer remains resting on the work surface."}, {"label": "subtasks", "start_step": 285, "end_step": 314, "id": "reasoning-language-00003", "text": "Right hand: hold: Right hand holds the wooden handle of the yellow mallet resting on the black work surface without any observable movement."}, {"label": "subtasks", "start_step": 315, "end_step": 344, "id": "reasoning-language-00004", "text": "Right hand: lift: Right hand lifts the yellow mallet upward from the black work surface, with fingers wrapped around the wooden handle until the mallet fully leaves the surface."}, {"label": "goal", "start_step": 316, "end_step": 575, "id": "a3ec7eaa-4c5f-49e1-9720-85dbb161fac5"}, {"label": "subtasks", "start_step": 345, "end_step": 397, "id": "reasoning-language-00005", "text": "Right hand: transport: Right hand carries the lifted yellow mallet leftward through the air, moving it toward the wooden peg platform."}, {"label": "subtasks", "start_step": 398, "end_step": 471, "id": "reasoning-language-00006", "text": "Right hand: place: Right hand lowers the yellow mallet toward the wooden peg platform, adjusting position until the wooden handle makes contact with the platform surface."}, {"label": "subtasks", "start_step": 472, "end_step": 509, "id": "reasoning-language-00007", "text": "Right hand: hold: Right hand holds the yellow mallet steady with its wooden handle resting on the wooden peg platform, without observable movement."}, {"label": "subtasks", "start_step": 510, "end_step": 599, "id": "reasoning-language-00008", "text": "Right hand: grasp: Right hand adjusts finger contact points and wrist angle slightly on the wooden mallet handle to stabilize its grip, with the mallet resting against the wooden peg board and its bottom end on the black work surface."}, {"label": "goal", "start_step": 576, "end_step": 765, "id": "33080ebe-d9ad-461f-a5b9-2bbbe7773441"}, {"label": "subtasks", "start_step": 600, "end_step": 659, "id": "reasoning-language-00009", "text": "Right hand: other:adjust_mallet_alignment: Right hand shifts the wooden mallet slightly upward and toward the target green peg, adjusting the mallet's alignment with the peg while its bottom end slides along the black work surface."}, {"label": "subtasks", "start_step": 660, "end_step": 681, "id": "reasoning-language-00010", "text": "Right hand: hold: Right hand holds the aligned wooden mallet steadily without observable movement, keeping the mallet head positioned over the target green peg."}, {"label": "subtasks", "start_step": 682, "end_step": 794, "id": "reasoning-language-00011", "text": "Right hand: press: Right hand applies downward force to the wooden mallet handle, pressing the mallet head down against the target green peg on the wooden peg board."}, {"label": "goal", "start_step": 766, "end_step": 960, "id": "3b142e32-fb4a-48ab-87c1-70768277c874"}, {"label": "subtasks", "start_step": 795, "end_step": 809, "id": "reasoning-language-00012", "text": "Right hand: grasp: Right hand makes slight finger adjustments to stabilize its grasp on the wooden mallet handle."}, {"label": "subtasks", "start_step": 810, "end_step": 831, "id": "reasoning-language-00013", "text": "Right hand: lift: Right hand lifts the grasped wooden mallet upward, fully separating it from the supporting wooden toy structure."}, {"label": "subtasks", "start_step": 832, "end_step": 869, "id": 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"start_step": 960, "end_step": 1004, "id": "reasoning-language-00018", "text": "Right hand: retreat: Right hand moves upward away from the mallet while remaining empty, retreating from the previous operation position."}, {"label": "home", "start_step": 1018, "end_step": 1165, "id": "pkCpbG24gEYLg1tfe5nGW"}], "language_segments": [{"label": "subtasks", "start_step": 75, "end_step": 164, "id": "reasoning-language-00001", "text": "Right hand: reach: Right hand moves downward from the top right edge of the frame toward the wooden handle of the yellow-headed hammer, with fingers held slightly open as it approaches the target without making contact."}, {"label": "subtasks", "start_step": 165, "end_step": 284, "id": "reasoning-language-00002", "text": "Right hand: grasp: Right hand makes initial contact with the wooden handle of the hammer, closes fingers around the handle, and makes small positional adjustments to the fingers to establish a secure grip while the hammer remains resting on the 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stationary at the left edge of the frame before moving out of view. | Right hand: idle: Right hand remains empty and stationary at the top right edge of the frame, with no movement toward objects."}, {"label": "goal", "start_step": 0, "end_step": 295, "id": "d93e3bd3-0e8c-4f58-8af5-6882e7c7dc93"}, {"label": "valid", "start_step": 0, "end_step": 867, "id": "U6_FawNgmVJTRleXg0JD0"}, {"label": "subtasks", "start_step": 90, "end_step": 179, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty with no observable operational movement throughout the segment, initially stationary at the left edge of the frame before moving out of view. | Right hand: reach: Right hand moves downward from the top right edge of the frame toward the wooden handle of the yellow hammer, remaining empty without contacting the handle."}, {"label": "subtasks", "start_step": 180, "end_step": 269, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty with no observable operational movement throughout the segment, initially stationary at the left edge of the frame before moving out of view. | Right hand: grasp: Right hand contacts the wooden handle of the yellow hammer, closes fingers around the handle and makes small adjustments to finger positions to form a grip, with the hammer resting on the black fabric surface."}, {"label": "subtasks", "start_step": 270, "end_step": 299, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty with no observable operational movement throughout the segment, initially stationary at the left edge of the frame before moving out of view. | Right hand: grasp: Right hand adjusts its fingers around the handle of the wooden hammer resting on the black work surface to establish a stable grip, with the hammer remaining stationary on the surface."}, {"label": "goal", "start_step": 296, "end_step": 470, "id": "e0a0e787-e054-4688-9cf3-45a63fdbaece"}, {"label": "subtasks", "start_step": 300, "end_step": 321, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty with no observable operational movement throughout the segment, initially stationary at the left edge of the frame before moving out of view. | Right hand: lift: Right hand lifts the stably grasped wooden hammer upward, until the entire hammer is fully separated from the black work surface."}, {"label": "subtasks", "start_step": 322, "end_step": 374, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty with no observable operational movement throughout the segment, initially stationary at the left edge of the frame before moving out of view. | Right hand: transport: Right hand carries the fully lifted wooden hammer leftward and slightly downward through the air toward the central wooden peg toy, rotating the hammer about a quarter turn clockwise as it moves to orient the yellow hammer head toward the pegs on the toy."}, {"label": "subtasks", "start_step": 375, "end_step": 561, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty with no observable operational movement throughout the segment, initially stationary at the left edge of the frame before moving out of view. | Right hand: grasp: Right hand makes small positional adjustments to the wooden hammer, slightly shifting its wrist and adjusting finger contact points on the wooden handle to align the yellow hammer head with the yellow cylindrical peg on the wooden toy."}, {"label": "goal", "start_step": 471, "end_step": 740, "id": "5a735ce5-9224-4ebf-ae19-54591ce35ea3"}, {"label": "subtasks", "start_step": 562, "end_step": 741, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty with no observable operational movement throughout the segment, initially stationary at the left edge of the frame before moving out of view. | Right hand: press: Right hand applies downward vertical pressure on the yellow cylindrical peg using the yellow hammer head, pressing the peg into the hole on the wooden toy."}, {"label": "goal", "start_step": 741, "end_step": 850, "id": "36488a1f-72be-49e5-964f-92224dbe40c9"}, {"label": "subtasks", "start_step": 742, "end_step": 764, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty with no observable operational movement throughout the segment, initially stationary at the left edge of the frame before moving out of view. | Right hand: release: Right hand opens its fingers to release the wooden hammer handle, separating its digits from the hammer surface."}, {"label": "subtasks", "start_step": 765, "end_step": 779, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty with no observable operational movement throughout the segment, initially stationary at the left edge of the frame before moving out of view. | Right hand: grasp: Right hand adjusts finger positions to close around and form a stable grip on the 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the top right edge of the camera view, with no observable actions or interactions with objects in the scene."}, {"label": "subtasks", "start_step": 930, "end_step": 1015, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty with no observable operational movement throughout the segment, initially stationary at the left edge of the frame before moving out of view."}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 89, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty with no observable operational movement throughout the segment, initially stationary at the left edge of the frame before moving out of view. | Right hand: idle: Right hand remains empty and stationary at the top right edge of the frame, with no movement toward objects."}, {"label": "subtasks", "start_step": 90, "end_step": 179, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty with no observable operational movement throughout the segment, initially stationary at the left edge of the frame before moving out of view. | Right hand: reach: Right hand moves downward from the top right edge of the frame toward the wooden handle of the yellow hammer, remaining empty without contacting the handle."}, {"label": "subtasks", "start_step": 180, "end_step": 269, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty with no observable operational movement throughout the segment, initially stationary at the left edge of the frame before moving out of view. | Right hand: grasp: Right hand contacts the wooden handle of the yellow hammer, closes fingers around the handle and makes small adjustments to finger positions to form a grip, with the hammer resting on the black fabric surface."}, {"label": "subtasks", "start_step": 270, "end_step": 299, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty with no observable operational movement throughout the segment, initially stationary at the left edge of the frame before moving out of view. | Right hand: grasp: Right hand adjusts its fingers around the handle of the wooden hammer resting on the black work surface to establish a stable grip, with the hammer remaining stationary on the surface."}, {"label": "subtasks", "start_step": 300, "end_step": 321, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty with no observable operational movement throughout the segment, initially stationary at the left edge of the frame before moving out of view. | Right hand: lift: Right hand lifts the stably grasped wooden hammer upward, until the entire hammer is fully separated from the black work surface."}, {"label": "subtasks", "start_step": 322, "end_step": 374, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty with no observable operational movement throughout the segment, initially stationary at the left edge 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edge of the frame before moving out of view. | Right hand: grasp: Right hand adjusts finger positions to close around and form a stable grip on the wooden handle of the hammer resting on the wooden peg platform."}, {"label": "subtasks", "start_step": 780, "end_step": 824, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty with no observable operational movement throughout the segment, initially stationary at the left edge of the frame before moving out of view. | Right hand: lift_transport: Right hand lifts the hammer completely off the wooden peg platform and transports it rightward across the black textured mat to the area right of the platform."}, {"label": "subtasks", "start_step": 825, "end_step": 854, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty with no observable operational movement throughout the segment, initially stationary at the left edge of the frame before moving out of view. | Right hand: place_release: Right hand lowers the hammer downward to set its wooden handle on the black mat surface and opens its fingers to release all contact with the hammer handle, remaining stationary next to the placed hammer at the end of the segment."}, {"label": "subtasks", "start_step": 855, "end_step": 907, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty with no observable operational movement throughout the segment, initially stationary at the left edge of the frame before moving out of view. | Right hand: retreat: Right hand stays empty, moves upward and toward the top right direction, retreating away from the position adjacent to the wooden mallet on the black textured work surface."}, {"label": "subtasks", "start_step": 908, "end_step": 929, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty with no observable operational movement throughout the segment, initially stationary at the left edge of the frame before moving out of view. | Right hand: other:out_of_view: Right hand is outside the top right edge of the camera view, with no observable actions or interactions with objects in the scene."}, {"label": "subtasks", "start_step": 930, "end_step": 1015, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty with no observable operational movement throughout the segment, initially stationary at the left edge of the frame before moving out of view."}], "episode_index": 104} +{"source_uid": "73bbe4b27c83856f", "num_frames": 1001, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. 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around the wooden handle of the yellow-headed hammer, making slight grip adjustments."}, {"label": "subtasks", "start_step": 255, "end_step": 321, "id": "reasoning-language-00004", "text": "Right hand: grasp: Right hand adjusts its grasp on the wooden handle of the yellow-headed hammer resting on the black table surface, repositioning slightly along the handle to stabilize the grip."}, {"label": "subtasks", "start_step": 322, "end_step": 344, "id": "reasoning-language-00005", "text": "Right hand: lift: Right hand lifts the yellow-headed hammer off the black table surface, moving it upward and slightly leftward."}, {"label": "subtasks", "start_step": 345, "end_step": 449, "id": "reasoning-language-00006", "text": "Right hand: transport: Right hand transports the yellow-headed hammer up-leftward while rotating it clockwise by about 90 degrees, moving toward the wooden pegboard."}, {"label": "subtasks", "start_step": 495, "end_step": 577, "id": "reasoning-language-00007", "text": "Right 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idle: Right hand remains empty at the right side of the frame without moving."}, {"label": "subtasks", "start_step": 810, "end_step": 854, "id": "reasoning-language-00012", "text": "Right hand: retreat: Right hand retreats rightward from the area near the yellow hammer toward the right edge of the frame."}], "episode_index": 118} +{"source_uid": "7be41bbe9207ef24", "num_frames": 880, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table.", "tags": {"task_name": "Hammer Nails", "task_instruction": "Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table.", "scene_description": "A hammer and two nails are placed on the table. 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Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table.", "tags": {"task_name": "Hammer Nails", "task_instruction": "Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table.", "scene_description": "A hammer and two nails are placed on the table. 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"/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData/Hammer_Nails_v2/season_POC22048_2026_05_22_10_21_37_train/POC22048_2026_05_22_14_47_36_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/hammer_nails/season_POC22048_2026_05_22_10_21_37_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 114, "v40_language_source": "previous_published_lerobot", "episode_index": 157} +{"source_uid": "e73dddd95575caed", "num_frames": 1094, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Hammer_Nails_v2", "tags": {"task_name": "Hammer_Nails_v2", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "B", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 127, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand is not visible in the frame throughout the segment, with no observable movement or contact with any objects. | Right hand: reach: Right hand remains out of frame and stationary at frame 0, enters the frame from the top-right corner, moves downward toward the light brown wooden handle of the yellow-headed hammer with fingers slightly spread."}, {"label": "goal", "start_step": 0, "end_step": 235, "id": "949b755b-c053-4938-8a68-7f38e1c27154"}, {"label": "valid", "start_step": 1, "end_step": 945, "id": "vchGErBZ7CV3r-D2LkdlQ"}, {"label": "subtasks", "start_step": 128, "end_step": 194, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand is not visible in the frame throughout the segment, with no observable movement or contact with any objects. | Right hand: grasp: Right hand makes contact with the wooden hammer handle, closes fingers gradually around the handle and adjusts finger positions to establish a grip on the hammer resting on the black textured surface."}, {"label": "subtasks", "start_step": 195, "end_step": 231, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand is not visible in the frame throughout the segment, with no observable movement or contact with any objects. | Right hand: grasp: Right hand closes fingers around the wooden handle of the hammer resting on the black work surface to form a stable grip."}, {"label": "subtasks", "start_step": 232, "end_step": 254, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand is not visible in the frame throughout the segment, with no observable movement or contact with any objects. | Right hand: lift: Right hand lifts the grasped hammer upward until the hammer is fully separated from the black work surface."}, {"label": "goal", "start_step": 236, "end_step": 550, "id": "5ac462b2-e1b2-40ee-a063-458bd77efaff"}, {"label": "subtasks", "start_step": 255, "end_step": 314, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand is not visible in the frame throughout the segment, with no observable movement or contact with any objects. | Right hand: transport: Right hand moves the lifted hammer leftward and upward to position it above the red peg on the wooden peg board."}, {"label": "subtasks", "start_step": 315, "end_step": 389, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand is not visible in the frame throughout the segment, with no observable movement or contact with any objects. | Right hand: hold: Right hand holds the hammer stationary above the red peg on the wooden peg board with no observable movement of hand, fingers or the hammer."}, {"label": "subtasks", "start_step": 390, "end_step": 434, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand is not visible in the frame throughout the segment, with no observable movement or contact with any objects. | Right hand: transport_press: Right hand grips the wooden-handled hammer with a yellow head, moves vertically downward to apply downward pressure on the red peg on the light brown wooden pegboard, driving the peg into the board."}, {"label": "subtasks", "start_step": 435, "end_step": 584, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand is not visible in the frame throughout the segment, with no observable movement or contact with any objects. | Right hand: hold: Right hand holds the wooden-handled hammer stationary over the pegboard, with the yellow hammer head resting on the pressed peg, no observable movement of the hand or hammer."}, {"label": "goal", "start_step": 551, "end_step": 815, "id": "b1c14666-606f-4052-bc6f-2831cfb1c86f"}, {"label": "subtasks", "start_step": 585, "end_step": 599, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand is not visible in the frame throughout the segment, with no observable movement or contact with any objects. | Right hand: lift: Right hand grips the wooden hammer handle and lifts the hammer slightly upward, raising the yellow hammer head completely off the wooden peg bench surface."}, {"label": "subtasks", "start_step": 600, "end_step": 734, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand is not visible in the frame throughout the segment, with no observable movement or contact with any objects. | Right hand: transport: Right hand carries the lifted hammer, shifting horizontally and making slight rotational adjustments to align the yellow hammer head directly over the red peg on the wooden peg bench, with minor finger adjustments to maintain a stable grip on the handle."}, {"label": "subtasks", "start_step": 735, "end_step": 854, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand is not visible in the frame throughout the segment, with no observable movement or contact with any objects."}, {"label": "goal", "start_step": 816, "end_step": 925, "id": "07364bc0-2111-4a8f-8a1c-04de4d33bdb1"}, {"label": "subtasks", "start_step": 855, "end_step": 869, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand is not visible in the frame throughout the segment, with no observable movement or contact with any objects. | Right hand: lift: Right hand grips the wooden hammer handle, lifting the hammer vertically upward off the wooden peg board until it fully separates from the board surface."}, {"label": "subtasks", "start_step": 870, "end_step": 907, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand is not visible in the frame throughout the segment, with no observable movement or contact with any objects. | Right hand: transport: Right hand holds the lifted wooden hammer, moving it horizontally right across the black mat toward the right resting position."}, {"label": "subtasks", "start_step": 908, "end_step": 929, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand is not visible in the frame throughout the segment, with no observable movement or contact with any objects. | Right hand: place_release: Right hand lowers the hammer downward to rest on the right black mat, opening fingers to release 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or contact with any objects. | Right hand: reach: Right hand remains out of frame and stationary at frame 0, enters the frame from the top-right corner, moves downward toward the light brown wooden handle of the yellow-headed hammer with fingers slightly spread."}, {"label": "subtasks", "start_step": 128, "end_step": 194, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand is not visible in the frame throughout the segment, with no observable movement or contact with any objects. | Right hand: grasp: Right hand makes contact with the wooden hammer handle, closes fingers gradually around the handle and adjusts finger positions to establish a grip on the hammer resting on the black textured surface."}, {"label": "subtasks", "start_step": 195, "end_step": 231, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand is not visible in the frame throughout the segment, with no observable movement or contact with any objects. | Right hand: grasp: Right hand closes fingers around the wooden handle of the hammer resting on the black work surface to form a stable grip."}, {"label": "subtasks", "start_step": 232, "end_step": 254, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand is not visible in the frame throughout the segment, with no observable movement or contact with any objects. | Right hand: lift: Right hand lifts the grasped hammer upward until the hammer is fully separated from the black work surface."}, {"label": "subtasks", "start_step": 255, "end_step": 314, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand is not visible in the frame throughout the segment, with no observable movement or contact with any objects. | Right hand: transport: Right hand moves the lifted hammer leftward and upward to position it above the red peg on the wooden peg board."}, {"label": "subtasks", "start_step": 315, "end_step": 389, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand is not 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hand holds the wooden-handled hammer stationary over the pegboard, with the yellow hammer head resting on the pressed peg, no observable movement of the hand or hammer."}, {"label": "subtasks", "start_step": 585, "end_step": 599, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand is not visible in the frame throughout the segment, with no observable movement or contact with any objects. | Right hand: lift: Right hand grips the wooden hammer handle and lifts the hammer slightly upward, raising the yellow hammer head completely off the wooden peg bench surface."}, {"label": "subtasks", "start_step": 600, "end_step": 734, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand is not visible in the frame throughout the segment, with no observable movement or contact with any objects. | Right hand: transport: Right hand carries the lifted hammer, shifting horizontally and making slight rotational adjustments to align the yellow hammer head directly over the 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Right hand: transport: Right hand holds the lifted wooden hammer, moving it horizontally right across the black mat toward the right resting position."}, {"label": "subtasks", "start_step": 908, "end_step": 929, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand is not visible in the frame throughout the segment, with no observable movement or contact with any objects. | Right hand: place_release: Right hand lowers the hammer downward to rest on the right black mat, opening fingers to release grip on the hammer handle as the hammer settles on the surface."}, {"label": "subtasks", "start_step": 930, "end_step": 944, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand is not visible in the frame throughout the segment, with no observable movement or contact with any objects. | Right hand: retreat: Right hand moves empty upward away from the resting hammer, pulling back from the hammer's position on the mat."}, {"label": "subtasks", "start_step": 945, "end_step": 1093, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand is not visible in the frame throughout the segment, with no observable movement or contact with any objects."}], "episode_index": 158} +{"source_uid": "b0b336e5f7cb6e23", "num_frames": 1033, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Hammer_Nails_v2", "tags": {"task_name": "Hammer_Nails_v2", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "B", "SOP": ""}, "segments": [{"label": "goal", "start_step": 0, "end_step": 250, "id": "90207084-a96b-483a-9d2b-cd2cbd7cd82d"}, {"label": "valid", "start_step": 0, "end_step": 884, "id": "vhH-oelUR9aYRxwzUIGOp"}, {"label": "subtasks", "start_step": 15, "end_step": 111, "id": "reasoning-language-00001", "text": "Right hand: reach: Right hand enters from the right side of the frame and moves left toward the yellow hammer with wooden handle on the black mat."}, {"label": "subtasks", "start_step": 112, "end_step": 239, "id": "reasoning-language-00002", "text": "Right hand: grasp: Right hand contacts the wooden handle of the yellow hammer, adjusts fingers to form and stabilize the grasp."}, {"label": "subtasks", "start_step": 240, "end_step": 261, "id": "reasoning-language-00003", "text": "Right hand: grasp: Right hand adjusts its grasp on the yellow hammer on the black mat, with fingers slightly tightening to stabilize the grip."}, {"label": "goal", "start_step": 251, "end_step": 480, "id": "bd71c9ac-70e4-43e8-bd53-260c5367a565"}, {"label": "subtasks", "start_step": 262, "end_step": 277, "id": "reasoning-language-00004", "text": "Right hand: lift: Right hand lifts the yellow hammer upward off the black supporting mat."}, {"label": "subtasks", "start_step": 278, "end_step": 344, "id": "reasoning-language-00005", "text": "Right hand: transport: Right hand transports the yellow hammer leftward and upward to the position above the wooden peg board with green legs."}, {"label": "subtasks", "start_step": 345, "end_step": 517, "id": "reasoning-language-00006", "text": "Right hand: press: Right hand holds the yellow hammer and presses downward to hit the red peg on the wooden toy for the first time."}, {"label": "goal", "start_step": 481, "end_step": 740, "id": "f6c5ba07-4b13-4c50-8e93-26b949c61b7d"}, {"label": "subtasks", "start_step": 518, "end_step": 607, "id": "reasoning-language-00007", "text": "Right hand: transport: Right hand holds the yellow hammer and moves upward away from the red peg on the wooden toy."}, {"label": "subtasks", "start_step": 608, "end_step": 771, "id": "reasoning-language-00008", "text": "Right hand: press: Right hand holds the yellow hammer and presses downward to hit the red peg on the wooden toy for the second time."}, {"label": "goal", "start_step": 741, "end_step": 850, "id": "b8dabbe6-9171-4f67-9bc0-3003076bfdca"}, {"label": "subtasks", "start_step": 772, "end_step": 794, "id": "reasoning-language-00009", "text": "Right hand: 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"reasoning-language-00004", "text": "Right hand: transport: Right hand transports the yellow hammer leftward toward the small wooden table with green legs."}, {"label": "subtasks", "start_step": 375, "end_step": 404, "id": "reasoning-language-00005", "text": "Right hand: grasp: Right hand adjusts fingers to form a stable grip on the wooden handle of the yellow hammer."}, {"label": "subtasks", "start_step": 405, "end_step": 441, "id": "reasoning-language-00006", "text": "Right hand: lift: Right hand lifts the yellow hammer upward away from the wooden peg board."}, {"label": "subtasks", "start_step": 442, "end_step": 479, "id": "reasoning-language-00007", "text": "Right hand: transport: Right hand moves the yellow hammer downward toward the red peg on the wooden peg board."}, {"label": "goal", "start_step": 456, "end_step": 650, "id": "7a196033-3a62-46ae-90b1-f7d93643835b"}, {"label": "subtasks", "start_step": 480, "end_step": 509, "id": "reasoning-language-00008", "text": "Right hand: 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"2945a4fa-e96e-4699-8872-9d174c5c7ce0"}, {"label": "subtasks", "start_step": 660, "end_step": 674, "id": "reasoning-language-00013", "text": "Right hand: transport: Right hand moves the yellow hammer downward toward the red peg for the third strike."}, {"label": "subtasks", "start_step": 675, "end_step": 689, "id": "reasoning-language-00014", "text": "Right hand: press: Right hand strikes the red peg with the yellow hammer a third time to press it further into the board."}, {"label": "subtasks", "start_step": 690, "end_step": 749, "id": "reasoning-language-00015", "text": "Right hand: transport: Right hand transports the yellow hammer with wooden handle rightward above the black working surface."}, {"label": "subtasks", "start_step": 750, "end_step": 764, "id": "reasoning-language-00016", "text": "Right hand: place: Right hand places the yellow hammer onto the right side of the black working surface."}, {"label": "subtasks", "start_step": 765, "end_step": 779, "id": "reasoning-language-00017", "text": "Right hand: release: Right hand releases the yellow hammer, fingers open to separate from the hammer handle."}, {"label": "home", "start_step": 804, "end_step": 951, "id": "dNVa-VqmT-ZN8ITdfYsA0"}], "language_segments": [{"label": "subtasks", "start_step": 60, "end_step": 149, "id": "reasoning-language-00001", "text": "Right hand: reach: Right hand moves leftward and downward toward the yellow hammer on the right side of the wooden toy on the black mat."}, {"label": "subtasks", "start_step": 150, "end_step": 247, "id": "reasoning-language-00002", "text": "Right hand: grasp: Right hand contacts the hammer and adjusts fingers to grip the wooden handle of the hammer to form a stable grasp."}, {"label": "subtasks", "start_step": 248, "end_step": 299, "id": "reasoning-language-00003", "text": "Right hand: lift: Right hand lifts the hammer upward away from the black mat."}, {"label": "subtasks", "start_step": 300, "end_step": 374, "id": "reasoning-language-00004", "text": "Right hand: transport: Right hand transports the yellow hammer leftward toward the small wooden table with green legs."}, {"label": "subtasks", "start_step": 375, "end_step": 404, "id": "reasoning-language-00005", "text": "Right hand: grasp: Right hand adjusts fingers to form a stable grip on the wooden handle of the yellow hammer."}, {"label": "subtasks", "start_step": 405, "end_step": 441, "id": "reasoning-language-00006", "text": "Right hand: lift: Right hand lifts the yellow hammer upward away from the wooden peg board."}, {"label": "subtasks", "start_step": 442, "end_step": 479, "id": "reasoning-language-00007", "text": "Right hand: transport: Right hand moves the yellow hammer downward toward the red peg on the wooden peg board."}, {"label": "subtasks", "start_step": 480, "end_step": 509, "id": "reasoning-language-00008", "text": "Right hand: press: Right hand strikes the red peg with the yellow hammer to press it into the wooden board."}, 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grip on the light wooden handle of the yellow mallet, repositioning its thumb and fingers along the handle to secure a stable hold."}, {"label": "subtasks", "start_step": 600, "end_step": 621, "id": "reasoning-language-00009", "text": "Right hand: transport: Right hand carries the firmly gripped yellow mallet upward to position the mallet head directly above the red peg on the wooden peg board."}, {"label": "subtasks", "start_step": 622, "end_step": 689, "id": "reasoning-language-00010", "text": "Right hand: press: Right hand applies downward vertical pressure on the yellow mallet to tap the red peg set in the wooden peg board."}, {"label": "subtasks", "start_step": 690, "end_step": 711, "id": "reasoning-language-00011", "text": "Right hand: grasp: Right hand adjusts its fingers around the wooden handle of the yellow mallet to form a stable grip."}, {"label": "subtasks", "start_step": 712, "end_step": 727, "id": "reasoning-language-00012", "text": "Right hand: lift: Right hand lifts the yellow mallet upward off the wooden toy base while maintaining grip on its wooden handle."}, {"label": "subtasks", "start_step": 728, "end_step": 764, "id": "reasoning-language-00013", "text": "Right hand: transport: Right hand carries the yellow mallet rightward and downward through the air toward the black work surface."}, {"label": "subtasks", "start_step": 765, "end_step": 787, "id": "reasoning-language-00014", "text": "Right hand: place_release: Right hand lowers the yellow mallet onto the black work surface until it rests stably, opening fingers to release grip on the wooden handle."}, {"label": "subtasks", "start_step": 788, "end_step": 824, "id": "reasoning-language-00015", "text": "Right hand: retreat: Right hand moves empty upward and rightward away from the resting yellow mallet."}], "episode_index": 174} +{"source_uid": "fe6aab30ff89c57a", "num_frames": 924, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Hammer_Nails_v2", "tags": {"task_name": "Hammer_Nails_v2", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "B", "SOP": ""}, "segments": [{"label": "valid", "start_step": 0, "end_step": 776, "id": "Fv-eTNxHj-qafZZckWSgm"}, {"label": "subtasks", "start_step": 75, "end_step": 149, "id": "reasoning-language-00001", "text": "Right hand: reach: Right hand enters from the top right of the frame, moves down and left with an empty hand toward the wooden handle of the yellow mallet, without touching the mallet."}, {"label": "subtasks", "start_step": 150, "end_step": 209, "id": "reasoning-language-00002", "text": "Right hand: grasp: Right hand makes contact with the wooden handle of the yellow mallet, fingers close around the handle and make small adjustments to form a stable grip, while the mallet remains stationary on the black work surface."}, {"label": "subtasks", "start_step": 210, "end_step": 254, "id": "reasoning-language-00003", "text": "Right hand: lift: Right hand grips the wooden handle of the yellow mallet and lifts the mallet upward until the entire mallet is fully raised off the black work surface."}, {"label": "subtasks", "start_step": 255, "end_step": 321, "id": "reasoning-language-00004", "text": "Right hand: transport: Right hand holds the yellow mallet and moves it leftward and downward from the right side of the frame to the position above the red peg on the wooden peg toy, making slight grip adjustments on the wooden handle during movement."}, {"label": "subtasks", "start_step": 322, "end_step": 374, "id": "reasoning-language-00005", "text": "Right hand: place: Right hand lowers the grasped yellow mallet vertically to place its yellow head onto the surface of the wooden peg toy directly over the red peg."}, {"label": "subtasks", "start_step": 375, "end_step": 471, "id": "reasoning-language-00006", "text": "Right hand: press: Right hand grips the handle of the wooden mallet and presses downward to drive the mallet head against the peg on the wooden peg toy."}, {"label": "subtasks", "start_step": 472, "end_step": 494, "id": "reasoning-language-00007", "text": "Right hand: transport: Right hand holds the mallet handle and moves upward, carrying the mallet back toward its initial position."}, {"label": "subtasks", "start_step": 495, "end_step": 569, "id": "reasoning-language-00008", "text": "Right hand: grasp: Right hand adjusts its finger positions slightly on the wooden mallet handle to form a stable grip, with no observable movement of the mallet itself."}, {"label": "subtasks", "start_step": 570, "end_step": 659, "id": "reasoning-language-00009", "text": "Right hand: mate: Right hand shifts the grasped wooden mallet by small increments to align the yellow mallet head directly over the red peg on the wooden base."}, {"label": "subtasks", "start_step": 660, "end_step": 734, "id": "reasoning-language-00010", "text": "Right hand: transport: Right hand maintains a firm grip on the wooden mallet, moving it rightward and slightly downward through the air above the black textured mat, away from the wooden peg toy."}, {"label": "subtasks", "start_step": 735, "end_step": 749, "id": "reasoning-language-00011", "text": "Right hand: place_release: Right hand lowers the mallet toward the black mat surface, opens fingers to release grip, allowing the mallet to fall and rest stationary on the mat."}, {"label": "home", "start_step": 777, "end_step": 923, "id": "frC1ffMBonEBfJC2gJh4P"}], "language_segments": [{"label": "subtasks", "start_step": 75, "end_step": 149, "id": "reasoning-language-00001", "text": "Right hand: reach: Right hand enters from the top right of the frame, moves down and left with an empty hand toward the wooden handle of the yellow mallet, without touching the mallet."}, {"label": "subtasks", "start_step": 150, "end_step": 209, "id": "reasoning-language-00002", "text": "Right hand: grasp: Right hand makes contact with the wooden handle of the yellow mallet, fingers close around the handle and make small adjustments to form a stable grip, while the mallet remains stationary on the black work surface."}, {"label": "subtasks", "start_step": 210, "end_step": 254, "id": "reasoning-language-00003", "text": "Right hand: lift: Right hand grips the wooden handle of the yellow mallet and lifts the mallet upward until the entire mallet is fully raised off the black work surface."}, {"label": "subtasks", "start_step": 255, "end_step": 321, "id": "reasoning-language-00004", "text": "Right hand: transport: Right hand holds the yellow mallet and moves it leftward and downward from the right side of the frame to the position above the red peg on the wooden peg toy, making slight grip adjustments on the wooden handle during movement."}, {"label": "subtasks", "start_step": 322, "end_step": 374, "id": "reasoning-language-00005", "text": "Right hand: place: Right hand lowers the grasped yellow mallet vertically to place its yellow head onto the surface of the wooden peg toy directly over the red peg."}, {"label": "subtasks", "start_step": 375, "end_step": 471, "id": "reasoning-language-00006", "text": "Right hand: press: Right hand grips the handle of the wooden mallet and presses downward to drive the mallet head against the peg on the wooden peg toy."}, {"label": "subtasks", "start_step": 472, "end_step": 494, "id": "reasoning-language-00007", "text": "Right hand: transport: Right hand holds the mallet handle and moves upward, carrying the mallet back toward its initial position."}, {"label": "subtasks", "start_step": 495, "end_step": 569, "id": "reasoning-language-00008", "text": "Right hand: grasp: Right hand adjusts its finger positions slightly on the wooden mallet handle to form a stable grip, with no observable movement of the mallet itself."}, {"label": "subtasks", "start_step": 570, "end_step": 659, "id": "reasoning-language-00009", "text": "Right hand: mate: Right hand shifts the grasped wooden mallet by small increments to align the yellow mallet head directly over the red peg on the wooden base."}, {"label": "subtasks", "start_step": 660, "end_step": 734, "id": "reasoning-language-00010", "text": "Right hand: transport: Right hand maintains a firm grip on the wooden mallet, moving it rightward and slightly downward through the air above the black textured mat, away from the wooden peg toy."}, {"label": "subtasks", "start_step": 735, "end_step": 749, "id": "reasoning-language-00011", "text": "Right hand: place_release: Right hand lowers the mallet toward the black mat surface, opens fingers to release grip, allowing the mallet to fall and rest stationary on the mat."}], "episode_index": 175} +{"source_uid": "6adee979a10b5865", "num_frames": 790, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table.", "tags": {"task_name": "Hammer Nails", "task_instruction": "Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table.", "scene_description": "A hammer and two nails are placed on the table. 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"/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData/Hammer_Nails_v2/season_POC22048_2026_05_22_10_21_37_train/POC22048_2026_05_22_15_08_30_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/hammer_nails/season_POC22048_2026_05_22_10_21_37_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 122, "v40_language_source": "previous_published_lerobot", "episode_index": 176} +{"source_uid": "58e37f900e8e8971", "num_frames": 904, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Hammer_Nails_v2", "tags": {"task_name": "Hammer_Nails_v2", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "B", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 134, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty and stationary at the far left edge of the frame without observable movement. | Right hand: reach: Right hand starts empty at the top-right edge of the frame and moves downward toward the wooden mallet with an open hand."}, {"label": "valid", "start_step": 0, "end_step": 754, "id": "Zzne0NJ6otDJ04ghKcJJI"}, {"label": "subtasks", "start_step": 135, "end_step": 239, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and stationary at the far left edge of the frame without observable movement. | Right hand: grasp: Right hand positions fingers around the wooden handle of the mallet, closing and adjusting finger positions to form a stable grip while the mallet rests on the black supporting surface."}, {"label": "subtasks", "start_step": 240, "end_step": 254, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary at the far left edge of the frame without observable movement. | Right hand: lift: Right hand lifts the wooden mallet slightly upward from the supporting surface while maintaining a stable grip on the wooden handle."}, {"label": "subtasks", "start_step": 255, "end_step": 269, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stationary at the far left edge of the frame without observable movement. | Right hand: hold: Right hand holds the wooden mallet handle on the black work surface without observable movement."}, {"label": "subtasks", "start_step": 270, "end_step": 367, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and stationary at the far left edge of the frame without observable movement. | Right hand: reorient: Right hand holds the wooden mallet handle, rotates the mallet about a quarter turn along an arcing path to position the yellow mallet head above the green peg on the wooden peg toy."}, {"label": "subtasks", "start_step": 368, "end_step": 427, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary at the far left edge of the frame without observable movement. | Right hand: hold: Right hand holds the wooden mallet steady with the yellow head positioned above the green peg, without observable movement."}, {"label": "subtasks", "start_step": 428, "end_step": 517, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary at the far left edge of the frame without observable movement. | Right hand: press: Right hand holds the wooden mallet handle and rotates the mallet slightly counter-clockwise to move its yellow head downward, applying vertical pressure on the red wooden peg in the wooden base."}, {"label": "subtasks", "start_step": 518, "end_step": 539, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary at the far left edge of the frame without observable movement. | Right hand: reorient: Right hand holds the wooden mallet handle and rotates the mallet slightly clockwise to return it to the vertical upright position, with the mallet head staying in the wooden base hole."}, {"label": "subtasks", "start_step": 540, "end_step": 591, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stationary at the far left edge of the frame without observable movement. | Right hand: hold: Right hand maintains a stable grip on the vertical wooden mallet handle, with no observable movement of the hand, fingers or the mallet."}, {"label": "subtasks", "start_step": 592, "end_step": 674, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stationary at the far left edge of the frame without observable movement. | Right hand: press: Right hand holds the wooden mallet handle and rotates the mallet slightly counter-clockwise to move its yellow head downward, applying vertical pressure on the red wooden peg until the peg protrudes from the base surface."}, {"label": "subtasks", "start_step": 675, "end_step": 734, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stationary at the far left edge of the frame without observable movement. | Right hand: reorient: Right hand holds the wooden mallet, rotates it about a quarter turn to face the yellow mallet head leftward, moves it to the right side of the wooden peg toy, and lowers it onto the black supporting surface."}, {"label": "subtasks", "start_step": 735, "end_step": 809, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and stationary at the far left edge of the frame without observable movement. | Right hand: retreat: Right hand moves empty in the upward-right direction, retreating away from the wooden mallet placed on the supporting surface."}, {"label": "home", "start_step": 755, "end_step": 903, "id": "FSZstQqnkUbLsce0jWrzy"}, {"label": "subtasks", "start_step": 810, "end_step": 903, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and stationary at the far left edge of the frame without observable movement."}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 134, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty and stationary at the far left edge of the frame without observable movement. | Right hand: reach: Right hand starts empty at the top-right edge of the frame and moves downward toward the wooden mallet with an open hand."}, {"label": "subtasks", "start_step": 135, "end_step": 239, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and stationary at the far left edge of the frame without observable movement. | Right hand: grasp: Right hand positions fingers around the wooden handle of the mallet, closing and adjusting finger positions to form a stable grip while the mallet rests on the black supporting surface."}, {"label": "subtasks", "start_step": 240, "end_step": 254, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary at the far left edge of the frame without observable movement. | Right hand: lift: Right hand lifts the wooden mallet slightly upward from the supporting surface while maintaining a stable grip on the wooden handle."}, {"label": "subtasks", "start_step": 255, "end_step": 269, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stationary at the far left edge of the frame without observable movement. | Right hand: hold: Right hand holds the wooden mallet handle on the black work surface without observable movement."}, {"label": "subtasks", "start_step": 270, "end_step": 367, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and stationary at the far left edge of the frame without observable movement. | Right hand: reorient: Right hand holds the wooden mallet handle, rotates the mallet about a quarter turn along an arcing path to position the yellow mallet head above the green peg on the wooden peg toy."}, {"label": "subtasks", "start_step": 368, "end_step": 427, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary at the far left edge of the frame without observable movement. | Right hand: hold: Right hand holds the wooden mallet steady with the yellow head positioned above the green peg, without observable movement."}, {"label": "subtasks", "start_step": 428, "end_step": 517, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary at the far left edge of the frame without observable movement. | Right hand: press: Right hand holds the wooden mallet handle and rotates the mallet slightly counter-clockwise to move its yellow head downward, applying vertical pressure on the red wooden peg in the wooden base."}, {"label": "subtasks", "start_step": 518, "end_step": 539, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary at the far left edge of the frame without observable movement. | Right hand: reorient: Right hand holds the wooden mallet handle and rotates the mallet slightly clockwise to return it to the vertical upright position, with the mallet head staying in the wooden base hole."}, {"label": "subtasks", "start_step": 540, "end_step": 591, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stationary at the far left edge of the frame without observable movement. | Right hand: hold: Right hand maintains a stable grip on the vertical wooden mallet handle, with no observable movement of the hand, fingers or the mallet."}, {"label": "subtasks", "start_step": 592, "end_step": 674, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stationary at the far left edge of the frame without observable movement. | Right hand: press: Right hand holds the wooden mallet handle and rotates the mallet slightly counter-clockwise to move its yellow head downward, applying vertical pressure on the red wooden peg until the peg protrudes from the base surface."}, {"label": "subtasks", "start_step": 675, "end_step": 734, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stationary at the far left edge of the frame without observable movement. | Right hand: reorient: Right hand holds the wooden mallet, rotates it about a quarter turn to face the yellow mallet head leftward, moves it to the right side of the wooden peg toy, and lowers it onto the black supporting surface."}, {"label": "subtasks", "start_step": 735, "end_step": 809, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and stationary at the far left edge of the frame without observable movement. | Right hand: retreat: Right hand moves empty in the upward-right direction, retreating away from the wooden mallet placed on the supporting surface."}, {"label": "subtasks", "start_step": 810, "end_step": 903, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and stationary at the far left edge of the frame without observable movement."}], "episode_index": 177} +{"source_uid": "105775a134f3b4fc", "num_frames": 831, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Hammer_Nails_v2", "tags": {"task_name": "Hammer_Nails_v2", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "B", "SOP": ""}, "segments": [{"label": "valid", "start_step": 0, "end_step": 681, "id": "qx2Zkungcy4bgGhEsXow8"}, {"label": "subtasks", "start_step": 60, "end_step": 104, "id": "reasoning-language-00001", "text": "Right hand: reach: Right hand moves downward from the top right of the frame towards the yellow hammer with wooden handle on the black mat."}, {"label": "subtasks", "start_step": 105, "end_step": 179, "id": "reasoning-language-00002", "text": "Right hand: grasp: Right hand adjusts its fingers to grasp the wooden handle of the yellow hammer."}, {"label": "subtasks", "start_step": 180, "end_step": 201, "id": "reasoning-language-00003", "text": "Right hand: grasp: Right hand adjusts its fingers to form a stable grasp on the wooden handle of the yellow hammer."}, {"label": "subtasks", "start_step": 202, "end_step": 307, "id": "reasoning-language-00004", "text": "Right hand: transport: Right hand holds the yellow hammer and moves it leftward towards the wooden toy rack."}, {"label": "subtasks", "start_step": 308, "end_step": 359, "id": "reasoning-language-00005", "text": "Right hand: mate: Right hand adjusts the position of the yellow hammer to align the hammer head with the pegs on the wooden toy rack."}, {"label": "subtasks", "start_step": 360, "end_step": 381, "id": "reasoning-language-00006", "text": "Right hand: hold: Right hand holds the wooden handle of the yellow hammer without moving."}, {"label": "subtasks", "start_step": 382, "end_step": 441, "id": "reasoning-language-00007", "text": "Right hand: 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Right hand: lift: Right hand holds the wooden mallet handle and lifts the mallet upward, raising the yellow mallet head off the work surface while the lower end of the wooden handle stays in contact with the surface."}, {"label": "subtasks", "start_step": 240, "end_step": 269, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains partially visible at the left edge of the frame, empty and stationary with no observable movement throughout the segment. | Right hand: lift: Right hand holds the wooden mallet handle and lifts the mallet upward, raising the mallet fully off the black textured work mat."}, {"label": "subtasks", "start_step": 270, "end_step": 329, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains partially visible at the left edge of the frame, empty and stationary with no observable movement throughout the segment. | Right hand: transport: Right hand carries the lifted wooden mallet leftward and slightly downward, rotating 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464, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains partially visible at the left edge of the frame, empty and stationary with no observable movement throughout the segment. | Right hand: grasp: Right hand adjusts the positions of its curled fingers along the wooden mallet handle, tightening contact to form a stable grip on the mallet, with negligible movement of the mallet itself."}, {"label": "subtasks", "start_step": 465, "end_step": 689, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains partially visible at the left edge of the frame, empty and stationary with no observable movement throughout the segment. | Right hand: other:repeated_small_striking: Right hand holds the wooden mallet with a stable grip, performing repeated small vertical downward striking motions against the peg on the perforated wooden board to apply downward pressure."}, {"label": "subtasks", "start_step": 690, "end_step": 734, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains partially visible at the left edge of the frame, empty and stationary with no observable movement throughout the segment. | Right hand: transport_release: Right hand holds the wooden mallet, moves it horizontally rightward to the area above the right side of the black platform, opens its fingers to release the mallet to fall toward the platform surface."}, {"label": "subtasks", "start_step": 735, "end_step": 771, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains partially visible at the left edge of the frame, empty and stationary with no observable movement throughout the segment. | Right hand: retreat: Right hand remains empty and moves upward and rightward away from the resting position of the wooden mallet."}, {"label": "subtasks", "start_step": 772, "end_step": 914, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains partially visible at the left edge of the frame, empty and stationary with no observable movement throughout the segment. | Right hand: idle: Right hand stays empty at the top-right corner of the visible frame without observable movement."}, {"label": "home", "start_step": 776, "end_step": 922, "id": "6LgDjfHnenG6jlxPi4Q4Y"}, {"label": "subtasks", "start_step": 915, "end_step": 921, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains partially visible at the left edge of the frame, empty and stationary with no observable movement throughout the segment. | Right hand: reach: Right hand enters the frame from the top-right edge, moving toward the central work area as an empty open hand without contacting any objects."}, {"label": "subtasks", "start_step": 922, "end_step": 922, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains partially visible at the left edge of the frame, empty and stationary with no observable movement throughout the segment."}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 67, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains partially visible at the left edge of the frame, empty and stationary with no observable movement throughout the segment. | Right hand: idle: Right hand stays empty at the top-right edge of the frame without any visible movement."}, {"label": "subtasks", "start_step": 68, "end_step": 127, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains partially visible at the left edge of the frame, empty and stationary with no observable movement throughout the segment. | Right hand: reach: Right hand moves downward from the top-right edge toward the wooden mallet on the black work surface, with fingers slightly open, not yet contacting the mallet handle."}, {"label": "subtasks", "start_step": 128, "end_step": 201, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains partially visible at the left edge of the frame, empty and stationary with no observable movement throughout the segment. | Right hand: grasp: Right hand makes contact with the wooden mallet handle, fingers close gradually and adjust position to form a stable grip on the handle, with the mallet remaining fully supported on the work surface."}, {"label": "subtasks", "start_step": 202, "end_step": 239, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains partially visible at the left edge of the frame, empty and stationary with no observable movement throughout the segment. | Right hand: lift: Right hand holds the wooden mallet handle and lifts the mallet upward, raising the yellow mallet head off the work surface while the lower end of the wooden handle stays in contact with the surface."}, {"label": "subtasks", "start_step": 240, "end_step": 269, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains partially visible at the left edge of the frame, empty and stationary with no observable movement throughout the segment. | Right hand: lift: Right hand holds the wooden mallet handle and lifts the mallet upward, raising the mallet fully off the black textured work mat."}, {"label": "subtasks", "start_step": 270, "end_step": 329, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains partially visible at the left edge of the frame, empty and stationary with no observable movement throughout the segment. | Right hand: transport: Right hand carries the lifted wooden mallet leftward and slightly downward, rotating the mallet about a quarter turn to orient the yellow hammerhead vertically downward toward the central peg board."}, {"label": "subtasks", "start_step": 330, "end_step": 359, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains partially visible at the left edge of the frame, empty and stationary with no observable movement throughout the segment. | Right hand: place: Right hand moves the wooden mallet further downward to set the yellow hammerhead onto the red peg on the wooden peg board."}, {"label": "subtasks", "start_step": 360, "end_step": 419, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains partially visible at the left edge of the frame, empty and stationary with no observable movement throughout the segment. | Right hand: hold: Right hand holds the wooden mallet steady with the yellow hammerhead resting on the red peg, without visible movement of the hand or mallet."}, {"label": "subtasks", "start_step": 420, "end_step": 464, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains partially visible at the left edge of the frame, empty and stationary with no observable movement throughout the segment. | Right hand: grasp: Right hand adjusts the positions of its curled fingers along the wooden mallet handle, tightening contact to form a stable grip on the mallet, with negligible movement of the mallet itself."}, {"label": "subtasks", "start_step": 465, "end_step": 689, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains partially visible at the left edge of the frame, empty and stationary with no observable movement throughout the segment. | Right hand: other:repeated_small_striking: Right hand holds the wooden mallet with a stable grip, performing repeated small vertical downward striking motions against the peg on the perforated wooden board to apply downward pressure."}, {"label": "subtasks", "start_step": 690, "end_step": 734, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains partially visible at the left edge of the frame, empty and stationary with no observable movement throughout the segment. | Right hand: transport_release: Right hand holds the wooden mallet, moves it horizontally rightward to the area above the right side of the black platform, opens its fingers to release the mallet to fall toward the platform surface."}, {"label": "subtasks", "start_step": 735, "end_step": 771, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains partially visible at the left edge of the frame, empty and stationary with no observable movement throughout the segment. | Right hand: retreat: Right hand remains empty and moves upward and rightward away from the resting position of the wooden mallet."}, {"label": "subtasks", "start_step": 772, "end_step": 914, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains partially visible at the left edge of the frame, empty and stationary with no observable movement throughout the segment. | Right hand: idle: Right hand stays empty at the top-right corner of the visible frame without observable movement."}, {"label": "subtasks", "start_step": 915, "end_step": 921, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains partially visible at the left edge of the frame, empty and stationary with no observable movement throughout the segment. | Right hand: reach: Right hand enters the frame from the top-right edge, moving toward the central work area as an empty open hand without contacting any objects."}, {"label": "subtasks", "start_step": 922, "end_step": 922, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains partially visible at the left edge of the frame, empty and stationary with no observable movement throughout the segment."}], "episode_index": 182} +{"source_uid": "afd91869175eebe8", "num_frames": 818, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table.", "tags": {"task_name": "Hammer Nails", "task_instruction": "Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table.", "scene_description": "A hammer and two nails are placed on the table. 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"/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData/Hammer_Nails_v2/season_POC22048_2026_05_22_10_21_37_train/POC22048_2026_05_22_15_13_39_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/hammer_nails/season_POC22048_2026_05_22_10_21_37_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 124, "v40_language_source": "previous_published_lerobot", "episode_index": 183} +{"source_uid": "6f3d789c79915a59", "num_frames": 685, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Hammer_Nails_v2", "tags": {"task_name": "Hammer_Nails_v2", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "B", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 67, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left periphery of the visible workspace without any observable movement. | Right hand: idle: Right hand remains empty, staying stationary at the top-right periphery of the visible workspace without moving."}, {"label": "valid", "start_step": 0, "end_step": 684, "id": "osi9oORRXCx1bPwEZlenB"}, {"label": "subtasks", "start_step": 68, "end_step": 134, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left periphery of the visible workspace without any observable movement. | Right hand: reach: Right hand moves downward from the top-right periphery toward the wooden handle of the yellow mallet on the right side of the workspace, with fingers slightly open as it approaches the target."}, {"label": "subtasks", "start_step": 135, "end_step": 209, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left periphery of the visible workspace without any observable movement. | Right hand: grasp: Right hand closes its fingers around the wooden mallet handle and makes fine adjustments to its grip on the handle resting on the black textured work surface."}, {"label": "subtasks", "start_step": 210, "end_step": 224, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left periphery of the visible workspace without any observable movement. | Right hand: grasp: Right hand adjusts and tightens its fingers around the wooden handle of the yellow mallet resting on the black mat to establish a stable grip."}, {"label": "subtasks", "start_step": 225, "end_step": 254, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left periphery of the visible workspace without any observable movement. | Right hand: lift: Right hand lifts the gripped yellow mallet upward from the black mat until the mallet is completely raised off the supporting surface."}, {"label": "subtasks", "start_step": 255, "end_step": 307, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left periphery of the visible workspace without any observable movement. | Right hand: transport: Right hand carries the suspended yellow mallet leftward through the air toward the central wooden peg board."}, {"label": "subtasks", "start_step": 308, "end_step": 329, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left periphery of the visible workspace without any observable movement. | Right hand: place: Right hand lowers the yellow mallet downward until the mallet head rests on the red peg atop the wooden peg board."}, {"label": "subtasks", "start_step": 330, "end_step": 359, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left periphery of the visible workspace without any observable movement."}, {"label": "subtasks", "start_step": 360, "end_step": 397, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left periphery of the visible workspace without any observable movement. | Right hand: grasp: Right hand adjusts finger positions around the wooden handle of the yellow mallet to form a stable grip."}, {"label": "subtasks", "start_step": 398, "end_step": 441, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left periphery of the visible workspace without any observable movement. | Right hand: press: Right hand moves the yellow mallet downward to apply downward force on the green peg, pressing it into the wooden pegboard."}, {"label": "subtasks", "start_step": 442, "end_step": 471, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left periphery of the visible workspace without any observable movement. | Right hand: transport: Right hand moves the yellow mallet upward to a resting position on top of the green peg while maintaining grip on the wooden handle."}, {"label": "subtasks", "start_step": 472, "end_step": 644, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left periphery of the visible workspace without any observable movement. | Right hand: hold: Right hand holds the yellow mallet stationary against the top of the green peg on the wooden pegboard with no observed movement."}, {"label": "subtasks", "start_step": 645, "end_step": 667, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left periphery of the visible workspace without any observable movement. | Right hand: lift: Right hand holds the yellow-headed wooden mallet and lifts it upward to fully separate the mallet from the wooden toy structure with green pegs."}, {"label": "subtasks", "start_step": 668, "end_step": 684, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left periphery of the visible workspace without any observable movement. | Right hand: transport: Right hand carries the fully separated yellow-headed wooden mallet and moves it upward and rightward away from the wooden toy structure."}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 67, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left periphery of the visible workspace without any observable movement. | Right hand: idle: Right hand remains empty, staying stationary at the top-right periphery of the visible workspace without moving."}, {"label": "subtasks", "start_step": 68, "end_step": 134, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left periphery of the visible workspace without any observable movement. | Right hand: reach: Right hand moves downward from the top-right periphery toward the wooden handle of the yellow mallet on the right side of the workspace, with fingers slightly open as it approaches the target."}, {"label": "subtasks", "start_step": 135, "end_step": 209, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left periphery of the visible workspace without any observable movement. | Right hand: grasp: Right hand closes its fingers around the wooden mallet handle and makes fine adjustments to its grip on the handle resting on the black textured work surface."}, {"label": "subtasks", "start_step": 210, "end_step": 224, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left periphery of the visible workspace without any observable movement. | Right hand: grasp: Right hand adjusts and tightens its fingers around the wooden handle of the yellow mallet resting on the black mat to establish a stable grip."}, {"label": "subtasks", "start_step": 225, "end_step": 254, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left periphery of the visible workspace without any observable movement. | Right hand: lift: Right hand lifts the gripped yellow mallet upward from the black mat until the mallet is completely raised off the supporting surface."}, {"label": "subtasks", "start_step": 255, "end_step": 307, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left periphery of the visible workspace without any observable movement. | Right hand: transport: Right hand carries the suspended yellow mallet leftward through the air toward the central wooden peg board."}, {"label": "subtasks", "start_step": 308, "end_step": 329, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left periphery of the visible workspace without any observable movement. | Right hand: place: Right hand lowers the yellow mallet downward until the mallet head rests on the red peg atop the wooden peg board."}, {"label": "subtasks", "start_step": 330, "end_step": 359, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left periphery of the visible workspace without any observable movement."}, {"label": "subtasks", "start_step": 360, "end_step": 397, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left periphery of the visible workspace without any observable movement. | Right hand: grasp: Right hand adjusts finger positions around the wooden handle of the yellow mallet to form a stable grip."}, {"label": "subtasks", "start_step": 398, "end_step": 441, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left periphery of the visible workspace without any observable movement. | Right hand: press: Right hand moves the yellow mallet downward to apply downward force on the green peg, pressing it into the wooden pegboard."}, {"label": "subtasks", "start_step": 442, "end_step": 471, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left periphery of the visible workspace without any observable movement. | Right hand: transport: Right hand moves the yellow mallet upward to a resting position on top of the green peg while maintaining grip on the wooden handle."}, {"label": "subtasks", "start_step": 472, "end_step": 644, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left periphery of the visible workspace without any observable movement. | Right hand: hold: Right hand holds the yellow mallet stationary against the top of the green peg on the wooden pegboard with no observed movement."}, {"label": "subtasks", "start_step": 645, "end_step": 667, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left periphery of the visible workspace without any observable movement. | Right hand: lift: Right hand holds the yellow-headed wooden mallet and lifts it upward to fully separate the mallet from the wooden toy structure with green pegs."}, {"label": "subtasks", "start_step": 668, "end_step": 684, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left periphery of the visible workspace without any observable movement. | Right hand: transport: Right hand carries the fully separated yellow-headed wooden mallet and moves it upward and rightward away from the wooden toy structure."}], "episode_index": 184} +{"source_uid": "264c44d88113814f", "num_frames": 978, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Hammer_Nails_v2", "tags": {"task_name": "Hammer_Nails_v2", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "B", "SOP": ""}, "segments": [{"label": "valid", "start_step": 0, "end_step": 828, "id": "eNZaatUsbQ4RPZCUGujQ1"}, {"label": "subtasks", "start_step": 60, "end_step": 104, "id": "reasoning-language-00001", "text": "Right hand: reach: Right hand moves downward from the top right of the frame toward the yellow-headed wooden hammer on the black textured mat, with fingers open and no contact with the hammer."}, {"label": "subtasks", "start_step": 105, "end_step": 194, "id": "reasoning-language-00002", "text": "Right hand: grasp: Right hand contacts the wooden handle of the yellow-headed hammer, closing fingers and adjusting grip position along the handle to form a stable grasp."}, {"label": "subtasks", "start_step": 195, "end_step": 224, "id": "reasoning-language-00003", "text": "Right hand: hold: Right hand holds the wooden handle of the yellow-headed hammer on the black textured mat without any observable movement of the hand or the hammer."}, {"label": "subtasks", "start_step": 225, "end_step": 239, "id": "reasoning-language-00004", "text": "Right hand: lift: Right hand lifts the yellow-headed wooden hammer upward, raising the hammer head off the black textured mat."}, {"label": "subtasks", "start_step": 240, "end_step": 261, "id": "reasoning-language-00005", "text": "Right hand: lift: Right hand lifts the yellow hammer upward from the black textured table surface."}, {"label": "subtasks", "start_step": 262, "end_step": 359, "id": "reasoning-language-00006", "text": "Right hand: transport: Right hand transports the yellow hammer leftward and upward while slightly rotating it, moving it to the position above the green peg on the wooden pegboard toy."}, {"label": "subtasks", "start_step": 360, "end_step": 404, "id": "reasoning-language-00007", "text": "Right hand: transport_press: Right hand transports the yellow hammer downward and presses its yellow head against the wooden board."}, {"label": "subtasks", "start_step": 405, "end_step": 427, "id": "reasoning-language-00008", "text": "Right hand: lift_transport: Right hand lifts the yellow hammer from the wooden board and transports it upward."}, {"label": "subtasks", "start_step": 428, "end_step": 449, "id": "reasoning-language-00009", "text": "Right hand: transport_press: Right hand transports the yellow hammer downward and presses its yellow head against the wooden board."}, {"label": "subtasks", "start_step": 450, "end_step": 471, "id": "reasoning-language-00010", "text": "Right hand: lift_transport: Right hand lifts the yellow hammer from the wooden board and transports it upward."}, {"label": "subtasks", "start_step": 472, "end_step": 501, "id": "reasoning-language-00011", "text": "Right hand: transport_press: Right hand transports the yellow hammer downward and presses its yellow head against the wooden board."}, {"label": "subtasks", "start_step": 502, "end_step": 524, "id": "reasoning-language-00012", "text": "Right hand: lift_transport: Right hand lifts the yellow hammer from the wooden board and transports it upward."}, {"label": "subtasks", "start_step": 525, "end_step": 554, "id": "reasoning-language-00013", "text": "Right hand: transport_press: Right hand transports the yellow hammer downward and presses its yellow head against the wooden board."}, {"label": "subtasks", "start_step": 555, "end_step": 577, "id": "reasoning-language-00014", "text": "Right hand: lift_transport: Right hand lifts the yellow hammer from the wooden board and transports it upward."}, {"label": "subtasks", "start_step": 578, "end_step": 599, "id": "reasoning-language-00015", "text": "Right hand: transport_press: Right hand transports the yellow hammer downward and presses its yellow head against the wooden board."}, {"label": "subtasks", "start_step": 600, "end_step": 621, "id": "reasoning-language-00016", "text": "Right hand: lift_transport: Right hand lifts the yellow hammer from the wooden board and transports it upward."}, {"label": "subtasks", "start_step": 622, "end_step": 651, "id": "reasoning-language-00017", "text": "Right hand: transport_press: Right hand transports the yellow hammer downward and presses its yellow head against the wooden board."}, {"label": "subtasks", "start_step": 652, "end_step": 674, "id": "reasoning-language-00018", "text": "Right hand: lift_transport: Right hand lifts the yellow hammer from the wooden board and transports it upward."}, {"label": "subtasks", "start_step": 675, "end_step": 704, "id": "reasoning-language-00019", "text": "Right hand: transport_press: Right hand transports the yellow hammer downward and presses its yellow head against the wooden board."}, {"label": "subtasks", "start_step": 705, "end_step": 727, "id": "reasoning-language-00020", "text": "Right hand: lift_transport: Right hand lifts the yellow hammer from the wooden board and transports it upward."}, {"label": "subtasks", "start_step": 728, "end_step": 734, "id": "reasoning-language-00021", "text": "Right hand: transport: Right hand transports the yellow hammer downward."}, {"label": "subtasks", "start_step": 735, "end_step": 779, "id": "reasoning-language-00022", "text": "Right hand: lift_transport: Right hand lifts the yellow hammer with a wooden handle away from the peg toy and transports it rightward in the air above the black textured surface."}, {"label": "subtasks", "start_step": 780, "end_step": 794, "id": "reasoning-language-00023", "text": "Right hand: place_release: Right hand places the yellow hammer onto the black textured surface and releases its grip on the wooden handle."}, {"label": "subtasks", "start_step": 795, "end_step": 809, "id": "reasoning-language-00024", "text": "Right hand: retreat: Right hand retreats rightward and upward away from the yellow hammer."}, {"label": "home", "start_step": 829, "end_step": 977, "id": "nxysfVVMzTIaTzKoO0mIM"}, {"label": "subtasks", "start_step": 960, "end_step": 977, "id": "reasoning-language-00025", "text": "Right hand: grasp_lift: Right hand grasps the yellow head of the wooden hammer and lifts the hammer head slightly upward, with the distal end of the handle still in contact with the black textured mat."}], "language_segments": [{"label": "subtasks", "start_step": 60, "end_step": 104, "id": "reasoning-language-00001", "text": "Right hand: reach: Right hand moves downward from the top right of the frame toward the yellow-headed wooden hammer on the black textured mat, with fingers open and no contact with the hammer."}, {"label": "subtasks", "start_step": 105, "end_step": 194, "id": "reasoning-language-00002", "text": "Right hand: grasp: Right hand contacts the wooden handle of the yellow-headed hammer, closing fingers and adjusting grip position along the handle to form a stable grasp."}, {"label": "subtasks", "start_step": 195, "end_step": 224, "id": "reasoning-language-00003", "text": "Right hand: hold: Right hand holds the wooden handle of the yellow-headed hammer on the black textured mat without any observable movement of the hand or the hammer."}, {"label": "subtasks", "start_step": 225, "end_step": 239, "id": "reasoning-language-00004", "text": "Right hand: lift: Right hand lifts the yellow-headed wooden hammer upward, raising the hammer head off the black textured mat."}, {"label": "subtasks", "start_step": 240, "end_step": 261, "id": "reasoning-language-00005", "text": "Right hand: lift: Right hand lifts the yellow hammer upward from the black textured table surface."}, {"label": "subtasks", "start_step": 262, "end_step": 359, "id": "reasoning-language-00006", "text": "Right hand: transport: Right hand transports the yellow hammer leftward and upward while slightly rotating it, moving it to the position above the green peg on the wooden pegboard toy."}, {"label": "subtasks", "start_step": 360, "end_step": 404, "id": "reasoning-language-00007", "text": "Right hand: transport_press: Right hand transports the yellow hammer downward and presses its yellow head against the wooden board."}, {"label": "subtasks", "start_step": 405, "end_step": 427, "id": "reasoning-language-00008", "text": "Right hand: lift_transport: Right hand lifts the yellow hammer from the wooden board and transports it upward."}, {"label": "subtasks", "start_step": 428, "end_step": 449, "id": "reasoning-language-00009", "text": "Right hand: transport_press: Right hand transports the yellow hammer downward and presses its yellow head against the wooden board."}, {"label": "subtasks", "start_step": 450, "end_step": 471, "id": "reasoning-language-00010", "text": "Right hand: lift_transport: Right hand lifts the yellow hammer from the wooden board and transports it upward."}, {"label": "subtasks", "start_step": 472, "end_step": 501, "id": "reasoning-language-00011", "text": "Right hand: transport_press: Right hand transports the yellow hammer downward and presses its yellow head against the wooden board."}, {"label": "subtasks", "start_step": 502, "end_step": 524, "id": "reasoning-language-00012", "text": "Right hand: lift_transport: Right hand lifts the yellow hammer from the wooden board and transports it upward."}, {"label": "subtasks", "start_step": 525, "end_step": 554, "id": "reasoning-language-00013", "text": "Right hand: transport_press: Right hand transports the yellow hammer downward and presses its yellow head against the wooden board."}, {"label": "subtasks", "start_step": 555, "end_step": 577, "id": "reasoning-language-00014", "text": "Right hand: 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"subtasks", "start_step": 75, "end_step": 141, "id": "reasoning-language-00001", "text": "Right hand: reach: Right hand enters from the top-right of the frame, moves downward with spread fingers toward the wooden handle of the yellow hammer placed on the black work mat."}, {"label": "subtasks", "start_step": 142, "end_step": 254, "id": "reasoning-language-00002", "text": "Right hand: grasp: Right hand makes contact with the wooden hammer handle, fingers gradually close and adjust positions to form a stable grip around the handle, with the hammer remaining on the black mat."}, {"label": "subtasks", "start_step": 255, "end_step": 277, "id": "reasoning-language-00003", "text": "Right hand: lift: Right hand grips the hammer handle and moves upward, lifting the hammer completely off the black work mat."}, {"label": "subtasks", "start_step": 278, "end_step": 351, "id": "reasoning-language-00004", "text": "Right hand: transport: Right hand holds the lifted hammer and moves it leftward toward 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movement."}], "episode_index": 187} +{"source_uid": "7f303ba87be4edac", "num_frames": 880, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table.", "tags": {"task_name": "Hammer Nails", "task_instruction": "Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table.", "scene_description": "A hammer and two nails are placed on the table. 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contacting any objects. | Right hand: reach: Right hand moves from the top right edge of the frame down and left toward the wooden handle of the yellow mallet, remaining empty without contacting any objects."}, {"label": "valid", "start_step": 0, "end_step": 684, "id": "fgvNL87TW-zrAtKjUnCCd"}, {"label": "subtasks", "start_step": 120, "end_step": 239, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains partially visible at the left edge of the frame, empty and motionless without contacting any objects. | Right hand: grasp: Right hand makes contact with the wooden handle of the yellow mallet, fingers close and make small positional adjustments around the handle to establish a stable grip, while the mallet stays resting on the black work surface."}, {"label": "subtasks", "start_step": 240, "end_step": 299, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains partially visible at the left edge of the frame, empty and motionless without contacting any objects. | Right hand: lift: Right hand adjusts finger positions along the wooden hammer handle, lifts the hammer upward from the black workbench while rotating the hammer about a quarter turn counterclockwise, with the yellow hammer head rolling leftward on the workbench until the entire hammer is fully lifted off the workbench surface."}, {"label": "subtasks", "start_step": 300, "end_step": 314, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains partially visible at the left edge of the frame, empty and motionless without contacting any objects. | Right hand: transport: Right hand carries the fully suspended wooden hammer to move slightly downward, rotates the hammer further to face the yellow hammer head downward directly above the red peg on the light wooden platform."}, {"label": "subtasks", "start_step": 315, "end_step": 344, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains partially visible at the left edge of the frame, empty and motionless without contacting any objects. | Right hand: grasp: Right hand adjusts finger positions and grip strength on the wooden hammer handle to stabilize the hammer, keeping the yellow hammer head aligned directly above the red peg on the light wooden platform."}, {"label": "subtasks", "start_step": 345, "end_step": 419, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains partially visible at the left edge of the frame, empty and motionless without contacting any objects. | Right hand: grasp: Right hand adjusts finger positions on the wooden hammer handle to stabilize the grip, with slight finger and wrist movements."}, {"label": "subtasks", "start_step": 420, "end_step": 599, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains partially visible at the left edge of the frame, empty and motionless without contacting any objects. | Right hand: press: Right hand holds the wooden hammer and makes repeated small up-and-down vertical movements to apply downward pressure on the wooden peg on the perforated wooden base."}, {"label": "subtasks", "start_step": 600, "end_step": 614, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains partially visible at the left edge of the frame, empty and motionless without contacting any objects. | Right hand: grasp: Right hand adjusts finger positions to form a stable grasp on the wooden handle of the hammer positioned on the wooden platform."}, {"label": "subtasks", "start_step": 615, "end_step": 651, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains partially visible at the left edge of the frame, empty and motionless without contacting any objects. | Right hand: lift_transport: Right hand lifts the hammer completely away from the wooden platform and moves it horizontally to the right above the black table surface, with slight rotation of the hammer during movement."}, {"label": "subtasks", "start_step": 652, "end_step": 674, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains partially visible at the left edge of the frame, empty and motionless without contacting any objects. | Right hand: place_release: Right hand lowers the hammer onto the black table surface until the hammer is fully supported by the table, with fingers opening to release the hammer as the motion completes."}, {"label": "subtasks", "start_step": 675, "end_step": 719, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains partially visible at the left edge of the frame, empty and motionless without contacting any objects. | Right hand: retreat: Right hand moves empty upward and to the right away from the hammer resting on the black table surface."}, {"label": "home", "start_step": 685, "end_step": 833, "id": "qpt9hg04lzbJ_FeLBtveE"}, {"label": "subtasks", "start_step": 720, "end_step": 833, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains partially visible at the left edge of the frame, empty and motionless without contacting any objects."}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 119, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains partially visible at the left edge of the frame, empty and motionless without contacting any objects. | Right hand: reach: Right hand moves from the top right edge of the frame down and left toward the wooden handle of the yellow mallet, remaining empty without contacting any objects."}, {"label": "subtasks", "start_step": 120, "end_step": 239, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains partially visible at the left edge of the frame, empty and motionless without contacting any objects. | Right hand: grasp: Right hand makes contact with the wooden handle of the yellow mallet, fingers close and make small positional adjustments around the handle to establish a stable grip, while the mallet stays resting on the black work surface."}, {"label": "subtasks", "start_step": 240, "end_step": 299, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains partially visible at the left edge of the frame, empty and motionless without contacting any objects. | Right hand: lift: Right hand adjusts finger positions along the wooden hammer handle, lifts the hammer upward from the black workbench while rotating the hammer about a quarter turn counterclockwise, with the yellow hammer head rolling leftward on the workbench until the entire hammer is fully lifted off the workbench surface."}, {"label": "subtasks", "start_step": 300, "end_step": 314, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains partially visible at the left edge of the frame, empty and motionless without contacting any objects. | Right hand: transport: Right hand carries the fully suspended wooden hammer to move slightly downward, rotates the hammer further to face the yellow hammer head downward directly above the red peg on the light wooden platform."}, {"label": "subtasks", "start_step": 315, "end_step": 344, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains partially visible at the left edge of the frame, empty and motionless without contacting any objects. | Right hand: grasp: Right hand adjusts finger positions and grip strength on the wooden hammer handle to stabilize the hammer, keeping the yellow hammer head aligned directly above the red peg on the light wooden platform."}, {"label": "subtasks", "start_step": 345, "end_step": 419, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains partially visible at the left edge of the frame, empty and motionless without contacting any objects. | Right hand: grasp: Right hand adjusts finger positions on the wooden hammer handle to stabilize the grip, with slight finger and wrist movements."}, {"label": "subtasks", "start_step": 420, "end_step": 599, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains partially visible at the left edge of the frame, empty and motionless without contacting any objects. | Right hand: press: Right hand holds the wooden hammer and makes repeated small up-and-down vertical movements to apply downward pressure on the wooden peg on the perforated wooden base."}, {"label": "subtasks", "start_step": 600, "end_step": 614, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains partially visible at the left edge of the frame, empty and motionless without contacting any objects. | Right hand: grasp: Right hand adjusts finger positions to form a stable grasp on the wooden handle of the hammer positioned on the wooden platform."}, {"label": "subtasks", "start_step": 615, "end_step": 651, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains partially visible at the left edge of the frame, empty and motionless without contacting any objects. | Right hand: lift_transport: Right hand lifts the hammer completely away from the wooden platform and moves it horizontally to the right above the black table surface, with slight rotation of the hammer during movement."}, {"label": "subtasks", "start_step": 652, "end_step": 674, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains partially visible at the left edge of the frame, empty and motionless without contacting any objects. | Right hand: place_release: Right hand lowers the hammer onto the black table surface until the hammer is fully supported by the table, with fingers opening to release the hammer as the motion completes."}, {"label": "subtasks", "start_step": 675, "end_step": 719, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains partially visible at the left edge of the frame, empty and motionless without contacting any objects. | Right hand: retreat: Right hand moves empty upward and to the right away from the hammer resting on the black table surface."}, {"label": "subtasks", "start_step": 720, "end_step": 833, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains partially visible at the left edge of the frame, empty and motionless without contacting any objects."}], "episode_index": 202} +{"source_uid": "d3bf3c3924fa3b18", "num_frames": 870, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Hammer_Nails_v2", "tags": {"task_name": "Hammer_Nails_v2", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "B", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 67, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty and stationary, staying mostly outside the visible workspace (only briefly visible at the left frame edge at frame 0) with no observable movement or object contact. | Right hand: idle: Right hand remains empty and stationary, entering the visible frame at the top-right edge at frame 1 and staying in that position with no movement or object contact through frame 8."}, {"label": "valid", "start_step": 0, "end_step": 720, "id": "4Uda1v-VdPzZbxhL3MKb-"}, {"label": "subtasks", "start_step": 68, "end_step": 127, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and stationary, staying mostly outside the visible workspace (only briefly visible at the left frame edge at frame 0) with no observable movement or object contact. | Right hand: reach: Right hand moves downward toward the wooden handle of the yellow mallet, with fingers held in a slightly open posture, approaching the handle and making initial light contact at the end of this segment."}, {"label": "subtasks", "start_step": 128, "end_step": 194, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary, staying mostly outside the visible workspace (only briefly visible at the left frame edge at frame 0) with no observable movement or object contact. | Right hand: grasp: Right hand closes fingers around the wooden handle of the yellow mallet, making small adjustments to finger and wrist position to establish a firm grip, with the mallet remaining resting on the black textured work surface."}, {"label": "subtasks", "start_step": 195, "end_step": 217, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stationary, staying mostly outside the visible workspace (only briefly visible at the left frame edge at frame 0) with no observable movement or object contact. | Right hand: grasp: Right hand adjusts finger positions to establish a stable grip on the wooden handle of the yellow hammer resting on the black mat."}, {"label": "subtasks", "start_step": 218, "end_step": 239, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and stationary, staying mostly outside the visible workspace (only briefly visible at the left frame edge at frame 0) with no observable movement or object contact. | Right hand: lift: Right hand lifts the firmly gripped yellow hammer upward until the hammer is fully separated from the black supporting mat."}, {"label": "subtasks", "start_step": 240, "end_step": 277, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary, staying mostly outside the visible workspace (only briefly visible at the left frame edge at frame 0) with no observable movement or object contact. | Right hand: transport_place: Right hand moves the lifted yellow hammer leftward toward the wooden pegboard, lowering the hammer to rest against the pegboard surface."}, {"label": "subtasks", "start_step": 278, "end_step": 314, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary, staying mostly outside the visible workspace (only briefly visible at the left frame edge at frame 0) with no observable movement or object contact. | Right hand: hold: Right hand holds the yellow hammer steady against the wooden pegboard without any observable movement or grip adjustment."}, {"label": "subtasks", "start_step": 315, "end_step": 397, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary, staying mostly outside the visible workspace (only briefly visible at the left frame edge at frame 0) with no observable movement or object contact. | Right hand: press: Right hand holds the wooden hammer and makes small downward pressing motions against the peg on the perforated wooden board."}, {"label": "subtasks", "start_step": 398, "end_step": 457, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stationary, staying mostly outside the visible workspace (only briefly visible at the left frame edge at frame 0) with no observable movement or object contact. | Right hand: hold: Right hand holds the wooden hammer stationary against the peg on the perforated wooden board."}, {"label": "subtasks", "start_step": 458, "end_step": 547, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stationary, staying mostly outside the visible workspace (only briefly visible at the left frame edge at frame 0) with no observable movement or object contact. | Right hand: press: Right hand holds the wooden hammer and makes small downward pressing motions against the peg on the perforated wooden board."}, {"label": "subtasks", "start_step": 548, "end_step": 599, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stationary, staying mostly outside the visible workspace (only briefly visible at the left frame edge at frame 0) with no observable movement or object contact. | Right hand: hold: Right hand holds the wooden hammer stationary against the peg on the perforated wooden board."}, {"label": "subtasks", "start_step": 600, "end_step": 659, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and stationary, staying mostly outside the visible workspace (only briefly visible at the left frame edge at frame 0) with no observable movement or object contact. | Right hand: press: Right hand holds the wooden hammer, applies downward pressure on the peg and moves the hammer slightly upward over the board."}, {"label": "subtasks", "start_step": 660, "end_step": 674, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and stationary, staying mostly outside the visible workspace (only briefly visible at the left frame edge at frame 0) with no observable movement or object contact. | Right hand: lift: Right hand firmly grips the wooden handle of the yellow-headed hammer, lifts it upward and slightly rightward until the hammer completely leaves the black workbench surface and the wooden peg toy structure."}, {"label": "subtasks", "start_step": 675, "end_step": 697, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary, staying mostly outside the visible workspace (only briefly visible at the left frame edge at frame 0) with no observable movement or object contact. | Right hand: transport: Right hand holds the lifted hammer, moves it rightward across the space above the workbench, rotates the wrist slightly to angle the hammer head downward while moving toward the right side of the workbench."}, {"label": "subtasks", "start_step": 698, "end_step": 704, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary, staying mostly outside the visible workspace (only briefly visible at the left frame edge at frame 0) with no observable movement or object contact. | Right hand: place_release: Right hand lowers the hammer onto the black workbench surface, opens its fingers to release the hammer handle, separating the hand from the hammer."}, {"label": "subtasks", "start_step": 705, "end_step": 719, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and stationary, staying mostly outside the visible workspace (only briefly visible at the left frame edge at frame 0) with no observable movement or object contact. | Right hand: idle: Right hand remains empty at the upper right area above the workbench with no obvious movement."}, {"label": "subtasks", "start_step": 720, "end_step": 764, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and stationary, staying mostly outside the visible workspace (only briefly visible at the left frame edge at frame 0) with no observable movement or object contact. | Right hand: retreat: Right hand moves upward and rightward while empty, retreating out of the frame from the top-right edge."}, {"label": "home", "start_step": 721, "end_step": 869, "id": "vT7J_a1hpx72JeWOb3AHw"}, {"label": "subtasks", "start_step": 765, "end_step": 869, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary, staying mostly outside the visible workspace (only briefly visible at the left frame edge at frame 0) with no observable movement or object contact."}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 67, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty and stationary, staying mostly outside the visible workspace (only briefly visible at the left frame edge at frame 0) with no observable movement or object contact. | Right hand: idle: Right hand remains empty and stationary, entering the visible frame at the top-right edge at frame 1 and staying in that position with no movement or object contact through frame 8."}, {"label": "subtasks", "start_step": 68, "end_step": 127, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and stationary, staying mostly outside the visible workspace (only briefly visible at the left frame edge at frame 0) with no observable movement or object contact. | Right hand: reach: Right hand moves downward toward the wooden handle of the yellow mallet, with fingers held in a slightly open posture, approaching the handle and making initial light contact at the end of this segment."}, {"label": "subtasks", "start_step": 128, "end_step": 194, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary, staying mostly outside the visible workspace (only briefly visible at the left frame edge at frame 0) with no observable movement or object contact. | Right hand: grasp: Right hand closes fingers around the wooden handle of the yellow mallet, making small adjustments to finger and wrist position to establish a firm grip, with the mallet remaining resting on the black textured work surface."}, {"label": "subtasks", "start_step": 195, "end_step": 217, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stationary, staying mostly outside the visible workspace (only briefly visible at the left frame edge at frame 0) with no observable movement or object contact. | Right hand: grasp: Right hand adjusts finger positions to establish a stable grip on the wooden handle of the yellow hammer resting on the black mat."}, {"label": "subtasks", "start_step": 218, "end_step": 239, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and stationary, staying mostly outside the visible workspace (only briefly visible at the left frame edge at frame 0) with no observable movement or object contact. | Right hand: lift: Right hand lifts the firmly gripped yellow hammer upward until the hammer is fully separated from the black supporting mat."}, {"label": "subtasks", "start_step": 240, "end_step": 277, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary, staying mostly outside the visible workspace (only briefly visible at the left frame edge at frame 0) with no observable movement or object contact. | Right hand: transport_place: Right hand moves the lifted yellow hammer leftward toward the wooden pegboard, lowering the hammer to rest against the pegboard surface."}, {"label": "subtasks", "start_step": 278, "end_step": 314, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary, staying mostly outside the visible workspace (only briefly visible at the left frame edge at frame 0) with no observable movement or object contact. | Right hand: hold: Right hand holds the yellow hammer steady against the wooden pegboard without any observable movement or grip adjustment."}, {"label": "subtasks", "start_step": 315, "end_step": 397, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary, staying mostly outside the visible workspace (only briefly visible at the left frame edge at frame 0) with no observable movement or object contact. | Right hand: press: Right hand holds the wooden hammer and makes small downward pressing motions against the peg on the perforated wooden board."}, {"label": "subtasks", "start_step": 398, "end_step": 457, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stationary, staying mostly outside the visible workspace (only briefly visible at the left frame edge at frame 0) with no observable movement or object contact. | Right hand: hold: Right hand holds the wooden hammer stationary against the peg on the perforated wooden board."}, {"label": "subtasks", "start_step": 458, "end_step": 547, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stationary, staying mostly outside the visible workspace (only briefly visible at the left frame edge at frame 0) with no observable movement or object contact. | Right hand: press: Right hand holds the wooden hammer and makes small downward pressing motions against the peg on the perforated wooden board."}, {"label": "subtasks", "start_step": 548, "end_step": 599, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stationary, staying mostly outside the visible workspace (only briefly visible at the left frame edge at frame 0) with no observable movement or object contact. | Right hand: hold: Right hand holds the wooden hammer stationary against the peg on the perforated wooden board."}, {"label": "subtasks", "start_step": 600, "end_step": 659, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and stationary, staying mostly outside the visible workspace (only briefly visible at the left frame edge at frame 0) with no observable movement or object contact. | Right hand: press: Right hand holds the wooden hammer, applies downward pressure on the peg and moves the hammer slightly upward over the board."}, {"label": "subtasks", "start_step": 660, "end_step": 674, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and stationary, staying mostly outside the visible workspace (only briefly visible at the left frame edge at frame 0) with no observable movement or object contact. | Right hand: lift: Right hand firmly grips the wooden handle of the yellow-headed hammer, lifts it upward and slightly rightward until the hammer completely leaves the black workbench surface and the wooden peg toy structure."}, {"label": "subtasks", "start_step": 675, "end_step": 697, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary, staying mostly outside the visible workspace (only briefly visible at the left frame edge at frame 0) with no observable movement or object contact. | Right hand: transport: Right hand holds the lifted hammer, moves it rightward across the space above the workbench, rotates the wrist slightly to angle the hammer head downward while moving toward the right side of the workbench."}, {"label": "subtasks", "start_step": 698, "end_step": 704, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary, staying mostly outside the visible workspace (only briefly visible at the left frame edge at frame 0) with no observable movement or object contact. | Right hand: place_release: Right hand lowers the hammer onto the black workbench surface, opens its fingers to release the hammer handle, separating the hand from the hammer."}, {"label": "subtasks", "start_step": 705, "end_step": 719, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and stationary, staying mostly outside the visible workspace (only briefly visible at the left frame edge at frame 0) with no observable movement or object contact. | Right hand: idle: Right hand remains empty at the upper right area above the workbench with no obvious movement."}, {"label": "subtasks", "start_step": 720, "end_step": 764, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and stationary, staying mostly outside the visible workspace (only briefly visible at the left frame edge at frame 0) with no observable movement or object contact. | Right hand: retreat: Right hand moves upward and rightward while empty, retreating out of the frame from the top-right edge."}, {"label": "subtasks", "start_step": 765, "end_step": 869, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary, staying mostly outside the visible workspace (only briefly visible at the left frame edge at frame 0) with no observable movement or object contact."}], "episode_index": 203} +{"source_uid": "790fec263cb35f08", "num_frames": 801, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table.", "tags": {"task_name": "Hammer Nails", "task_instruction": "Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table.", "scene_description": "A hammer and two nails are placed on the table. 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188, "end_step": 194, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without any observable movement. | Right hand: lift: Right hand moves slightly upward while gripping the mallet handle, starting to lift the yellow mallet off the supporting surface."}, {"label": "subtasks", "start_step": 195, "end_step": 224, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without any observable movement. | Right hand: lift: Right hand holds the wooden hammer with a yellow rubber head, lifting it upward to raise the hammer close to fully off the black work surface."}, {"label": "subtasks", "start_step": 225, "end_step": 284, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without any observable movement. | Right hand: transport: Right hand carries the fully lifted hammer, moving leftward toward the wooden peg platform while rotating the hammer to a vertical orientation to align the yellow hammer head above the red pin on the platform."}, {"label": "subtasks", "start_step": 285, "end_step": 359, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without any observable movement."}, {"label": "subtasks", "start_step": 360, "end_step": 374, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without any observable movement. | Right hand: press: Right hand holds the wooden hammer and moves vertically downward to press the yellow hammer head against the green peg mounted on the wooden pegboard."}, {"label": "subtasks", "start_step": 375, "end_step": 411, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without any observable movement. | Right hand: grasp: Right hand makes slight finger adjustments and small wrist shifts to reposition and stabilize its grip on the wooden hammer handle."}, {"label": "subtasks", "start_step": 412, "end_step": 494, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without any observable movement. | Right hand: hold: Right hand holds the wooden hammer steadily, with the yellow hammer head aligned directly above the green peg, with no observable movement of the hand, fingers or hammer."}, {"label": "subtasks", "start_step": 495, "end_step": 554, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without any observable movement. | Right hand: press: Right hand holds the wooden hammer and moves vertically downward to press the yellow hammer head onto the green peg, applying downward force to the peg."}, {"label": "subtasks", "start_step": 555, "end_step": 577, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without any observable movement. | Right hand: grasp: Right hand adjusts finger positions on the wooden hammer handle to stabilize its grip, with the hammer resting on the wooden peg toy."}, {"label": "subtasks", "start_step": 578, "end_step": 591, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without any observable movement. | Right hand: lift: Right hand lifts the wooden hammer upward and rightward, raising the hammer completely off the wooden peg toy surface."}, {"label": "subtasks", "start_step": 592, "end_step": 629, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without any observable movement. | Right hand: transport: Right hand carries the lifted wooden hammer horizontally rightward across the black mat to the target placement area."}, {"label": "subtasks", "start_step": 630, "end_step": 644, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without any observable movement. | Right hand: place_release: Right hand lowers the wooden hammer to rest on the right side of the black mat, opening fingers to release contact with the hammer handle."}, {"label": "subtasks", "start_step": 645, "end_step": 689, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without any observable movement. | Right hand: retreat: Right hand moves empty upward and rightward away from the placed hammer, leaving the hammer operation area."}, {"label": "home", "start_step": 660, "end_step": 808, "id": "ZNslijPTU-iUiBx5TehBU"}, {"label": "subtasks", "start_step": 690, "end_step": 808, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without any observable movement."}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 59, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without any observable movement. | Right hand: idle: Right hand remains empty and stationary at the top-right edge of the frame."}, {"label": "subtasks", "start_step": 60, "end_step": 111, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without any observable movement. | Right hand: reach: Right hand moves down and left toward the wooden handle of the yellow mallet with slightly open fingers, approaching the handle without making stable contact."}, {"label": "subtasks", "start_step": 112, "end_step": 187, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without any observable movement. | Right hand: grasp: Right hand closes fingers around the wooden handle of the yellow mallet, adjusting finger position to form a stable grip while the mallet rests fully on the supporting surface."}, {"label": "subtasks", "start_step": 188, "end_step": 194, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without any observable movement. | Right hand: lift: Right hand moves slightly upward while gripping the mallet handle, starting to lift the yellow mallet off the supporting surface."}, {"label": "subtasks", "start_step": 195, "end_step": 224, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without any observable movement. | Right hand: lift: Right hand holds the wooden hammer with a yellow rubber head, lifting it upward to raise the hammer close to fully off the black work surface."}, {"label": "subtasks", "start_step": 225, "end_step": 284, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without any observable movement. | Right hand: transport: Right hand carries the fully lifted hammer, moving leftward toward the wooden peg platform while rotating the hammer to a vertical orientation to align the yellow hammer head above the red pin on the platform."}, {"label": "subtasks", "start_step": 285, "end_step": 359, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without any observable movement."}, {"label": "subtasks", "start_step": 360, "end_step": 374, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without any observable movement. | Right hand: press: Right hand holds the wooden hammer and moves vertically downward to press the yellow hammer head against the green peg mounted on the wooden pegboard."}, {"label": "subtasks", "start_step": 375, "end_step": 411, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without any observable movement. | Right hand: grasp: Right hand makes slight finger adjustments and small wrist shifts to reposition and stabilize its grip on the wooden hammer handle."}, {"label": "subtasks", "start_step": 412, "end_step": 494, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without any observable movement. | Right hand: hold: Right hand holds the wooden hammer steadily, with the yellow hammer head aligned directly above the green peg, with no observable movement of the hand, fingers or hammer."}, {"label": "subtasks", "start_step": 495, "end_step": 554, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without any observable movement. | Right hand: press: Right hand holds the wooden hammer and moves vertically downward to press the yellow hammer head onto the green peg, applying downward force to the peg."}, {"label": "subtasks", "start_step": 555, "end_step": 577, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without any observable movement. | Right hand: grasp: Right hand adjusts finger positions on the wooden hammer handle to stabilize its grip, with the hammer resting on the wooden peg toy."}, {"label": "subtasks", "start_step": 578, "end_step": 591, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without any observable movement. | Right hand: lift: Right hand lifts the wooden hammer upward and rightward, raising the hammer completely off the wooden peg toy surface."}, {"label": "subtasks", "start_step": 592, "end_step": 629, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without any observable movement. | Right hand: transport: Right hand carries the lifted wooden hammer horizontally rightward across the black mat to the target placement area."}, {"label": "subtasks", "start_step": 630, "end_step": 644, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without any observable movement. | Right hand: place_release: Right hand lowers the wooden hammer to rest on the right side of the black mat, opening fingers to release contact with the hammer handle."}, {"label": "subtasks", "start_step": 645, "end_step": 689, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without any observable movement. | Right hand: retreat: Right hand moves empty upward and rightward away from the placed hammer, leaving the hammer operation area."}, {"label": "subtasks", "start_step": 690, "end_step": 808, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without any observable movement."}], "episode_index": 211} +{"source_uid": "1716ace6667d3e46", "num_frames": 703, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table.", "tags": {"task_name": "Hammer Nails", "task_instruction": "Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table.", "scene_description": "A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back.", "success_criteria": "Both nails are hammered down securely, and the hammer is placed back stably on the table.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 203, "id": "subtask-001", "text": "Pick up the hammer from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 204, "end_step": 373, "id": "subtask-002", "text": "Hammer down the first nail with the right hand. | Skill: press", "task_skill": "press", "atomic_action": []}, {"label": "subtasks", "start_step": 374, "end_step": 458, "id": "subtask-003", "text": "Hammer down the second nail with the right hand. | Skill: press", "task_skill": "press", "atomic_action": []}, {"label": "subtasks", "start_step": 459, "end_step": 543, "id": "subtask-004", "text": "Place the hammer back on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 203, "id": "subtask-001", "text": "Pick up the hammer from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 204, "end_step": 373, "id": "subtask-002", "text": "Hammer down the first nail with the right hand. | Skill: press", "task_skill": "press", "atomic_action": []}, {"label": "subtasks", "start_step": 374, "end_step": 458, "id": "subtask-003", "text": "Hammer down the second nail with the right hand. | Skill: press", "task_skill": "press", "atomic_action": []}, {"label": "subtasks", "start_step": 459, "end_step": 543, "id": "subtask-004", "text": "Place the hammer back on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData/Hammer_Nails_v2/season_POC22048_2026_05_22_10_21_37_train/POC22048_2026_05_22_16_22_13_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/hammer_nails/season_POC22048_2026_05_22_10_21_37_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 147, "v40_language_source": "previous_published_lerobot", "episode_index": 212} +{"source_uid": "da687aece7f171c9", "num_frames": 785, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Hammer_Nails_v2", "tags": {"task_name": "Hammer_Nails_v2", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "B", "SOP": ""}, "segments": [{"label": "valid", "start_step": 0, "end_step": 636, "id": "Kuch8FCoIZwDqJaaOBDAi"}, {"label": "subtasks", "start_step": 15, "end_step": 104, "id": "reasoning-language-00001", "text": "Right hand: reach: Right hand enters from the right edge of the frame and moves leftward toward the yellow hammer on the black textured mat."}, {"label": "subtasks", "start_step": 105, "end_step": 134, "id": "reasoning-language-00002", "text": "Right hand: grasp: Right hand grasps the yellow head of the hammer, with fingers closing around the hammer head to adjust the grip."}, {"label": "subtasks", "start_step": 135, "end_step": 209, "id": "reasoning-language-00003", "text": "Right hand: grasp: Right hand closes its fingers to grasp the wooden handle of the yellow hammer on the black textured mat."}, {"label": "subtasks", "start_step": 210, "end_step": 231, "id": "reasoning-language-00004", "text": "Right hand: hold: Right hand holds the yellow hammer with a wooden handle on the right area of the black table surface without moving."}, {"label": "subtasks", "start_step": 232, "end_step": 247, "id": "reasoning-language-00005", "text": "Right hand: lift: Right hand lifts the yellow hammer upward and slightly leftward until it completely leaves the black table surface."}, {"label": "subtasks", "start_step": 248, "end_step": 329, "id": "reasoning-language-00006", "text": "Right hand: transport: Right hand transports the yellow hammer leftward while rotating it about 90 degrees to a nearly vertical orientation with the yellow head on top, moving it above the red peg on the wooden pegboard."}, {"label": "subtasks", "start_step": 330, "end_step": 359, "id": "reasoning-language-00007", "text": "Right hand: press: Right hand presses the red peg downward with the yellow hammer, pushing the peg into the perforated wooden board."}, {"label": "subtasks", "start_step": 360, "end_step": 397, "id": "reasoning-language-00008", "text": "Right hand: hold: Right hand holds the yellow hammer on the perforated wooden board with the red peg fully pressed in, without moving."}, {"label": "subtasks", "start_step": 398, "end_step": 419, "id": "reasoning-language-00009", "text": "Right hand: lift: Right hand lifts the yellow hammer upward from the perforated wooden board."}, {"label": "subtasks", "start_step": 420, "end_step": 449, "id": "reasoning-language-00010", "text": "Right hand: lift: Right hand lifts the yellow-headed wooden hammer slightly upward from the hole on the wooden board with green pegs."}, {"label": "subtasks", "start_step": 450, "end_step": 509, "id": "reasoning-language-00011", "text": "Right hand: hold: Right hand holds the yellow-headed wooden hammer stationary in the air above the wooden board with green pegs."}, {"label": "subtasks", "start_step": 510, "end_step": 554, "id": "reasoning-language-00012", "text": "Right hand: press: Right hand presses the yellow-headed wooden hammer downward along the vertical direction into the hole on the wooden board with green pegs."}, {"label": "subtasks", "start_step": 555, "end_step": 599, "id": "reasoning-language-00013", "text": "Right hand: lift_transport: Right hand lifts the yellow hammer off the wooden base and moves it rightward to above the right side of the black mat."}, {"label": "subtasks", "start_step": 600, "end_step": 614, "id": "reasoning-language-00014", "text": "Right hand: place_release: Right hand places the yellow hammer onto the black mat and releases its grip."}, {"label": "subtasks", "start_step": 615, "end_step": 629, "id": "reasoning-language-00015", "text": "Right hand: idle: Right hand remains empty above the right side of the black mat without moving."}, {"label": "subtasks", "start_step": 630, "end_step": 674, "id": "reasoning-language-00016", "text": "Right hand: retreat: Right hand stays empty and moves rightward, gradually exiting the frame from the right edge."}, {"label": "home", "start_step": 637, "end_step": 784, "id": "SguAIXHAtyynvQC5Vl0jO"}], "language_segments": [{"label": "subtasks", "start_step": 15, "end_step": 104, "id": "reasoning-language-00001", "text": "Right hand: reach: Right hand enters from the right edge of the frame and moves leftward toward the yellow hammer on the black textured mat."}, {"label": "subtasks", "start_step": 105, "end_step": 134, "id": "reasoning-language-00002", "text": "Right hand: grasp: Right hand grasps the yellow head of the hammer, with fingers closing around the hammer head to adjust the grip."}, {"label": "subtasks", "start_step": 135, "end_step": 209, "id": "reasoning-language-00003", "text": "Right hand: grasp: Right hand closes its fingers to grasp the wooden handle of the yellow hammer on the black textured mat."}, {"label": "subtasks", "start_step": 210, "end_step": 231, "id": "reasoning-language-00004", "text": "Right hand: hold: Right hand holds the yellow hammer with a wooden handle on the right area of the black table surface without moving."}, {"label": "subtasks", "start_step": 232, "end_step": 247, "id": "reasoning-language-00005", "text": "Right hand: lift: Right hand lifts the yellow hammer upward and slightly leftward until it completely leaves the black table surface."}, {"label": "subtasks", "start_step": 248, "end_step": 329, "id": "reasoning-language-00006", "text": "Right hand: transport: Right hand transports the yellow hammer leftward while rotating it about 90 degrees to a nearly vertical orientation with the yellow head on top, moving it above the red peg on the wooden pegboard."}, {"label": "subtasks", "start_step": 330, "end_step": 359, "id": "reasoning-language-00007", "text": "Right hand: press: Right hand presses the red peg downward with the yellow hammer, pushing the peg into the perforated wooden board."}, {"label": "subtasks", "start_step": 360, "end_step": 397, "id": "reasoning-language-00008", "text": "Right hand: hold: Right hand holds the yellow hammer on the perforated wooden board with the red peg fully pressed in, without moving."}, {"label": "subtasks", "start_step": 398, "end_step": 419, "id": "reasoning-language-00009", "text": "Right hand: lift: Right hand lifts the yellow hammer upward from the perforated wooden board."}, {"label": "subtasks", "start_step": 420, "end_step": 449, "id": "reasoning-language-00010", "text": "Right hand: lift: Right hand lifts the yellow-headed wooden hammer slightly upward from the hole on the wooden board with green pegs."}, {"label": "subtasks", "start_step": 450, "end_step": 509, "id": "reasoning-language-00011", "text": "Right hand: hold: Right hand holds the yellow-headed wooden hammer stationary in the air above the wooden board with green pegs."}, {"label": "subtasks", "start_step": 510, "end_step": 554, "id": "reasoning-language-00012", "text": "Right hand: press: Right hand presses the yellow-headed wooden hammer downward along the vertical direction into the hole on the wooden board with green pegs."}, {"label": "subtasks", "start_step": 555, "end_step": 599, "id": "reasoning-language-00013", "text": "Right hand: lift_transport: Right hand lifts the yellow hammer off the wooden base and moves it rightward to above the right side of the black mat."}, {"label": "subtasks", "start_step": 600, "end_step": 614, "id": "reasoning-language-00014", "text": "Right hand: place_release: Right hand places the yellow hammer onto the black mat and releases its grip."}, {"label": "subtasks", "start_step": 615, "end_step": 629, "id": "reasoning-language-00015", "text": "Right hand: idle: Right hand remains empty above the right side of the black mat without moving."}, {"label": "subtasks", "start_step": 630, "end_step": 674, "id": "reasoning-language-00016", "text": "Right hand: retreat: Right hand stays empty and moves rightward, gradually exiting the frame from the right edge."}], "episode_index": 213} +{"source_uid": "91079a5ed4d750e7", "num_frames": 773, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table.", "tags": {"task_name": "Hammer Nails", "task_instruction": "Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table.", "scene_description": "A hammer and two nails are placed on the table. 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{"label": "subtasks", "start_step": 315, "end_step": 389, "id": "reasoning-language-00006", "text": "Left hand: idle: Partially visible left hand stays at the far left edge of the frame, empty, with no observable movement or contact with any objects. | Right hand: hold: Right hand holds the yellow mallet steadily above the wooden peg toy, with no visible movement of the hand, fingers, or mallet."}, {"label": "subtasks", "start_step": 390, "end_step": 509, "id": "reasoning-language-00007", "text": "Left hand: idle: Partially visible left hand stays at the far left edge of the frame, empty, with no observable movement or contact with any objects. | Right hand: reorient: Right hand holds the mallet handle, slightly rotates the wrist to adjust the mallet's orientation with very little positional shift, with subtle finger adjustments to maintain grip."}, {"label": "subtasks", "start_step": 510, "end_step": 524, "id": "reasoning-language-00008", "text": "Left hand: idle: Partially visible left hand stays at the far left edge of the frame, empty, with no observable movement or contact with any objects. | Right hand: lift: Right hand grips the mallet handle and moves upward, lifting the yellow mallet head off the surface of the wooden peg board."}, {"label": "subtasks", "start_step": 525, "end_step": 569, "id": "reasoning-language-00009", "text": "Left hand: idle: Partially visible left hand stays at the far left edge of the frame, empty, with no observable movement or contact with any objects. | Right hand: lift_transport: Right hand holds the yellow wooden mallet, lifts it off the wooden peg toy, and moves it rightward to the position above the right area of the black table surface."}, {"label": "subtasks", "start_step": 570, "end_step": 577, "id": "reasoning-language-00010", "text": "Left hand: idle: Partially visible left hand stays at the far left edge of the frame, empty, with no observable movement or contact with any objects. | Right hand: place_release: Right hand lowers the yellow wooden mallet to the black table surface, opens fingers to release the mallet, letting it come to rest on the table."}, {"label": "subtasks", "start_step": 578, "end_step": 599, "id": "reasoning-language-00011", "text": "Left hand: idle: Partially visible left hand stays at the far left edge of the frame, empty, with no observable movement or contact with any objects. | Right hand: idle: Right hand remains empty above the placed yellow mallet without noticeable movement."}, {"label": "subtasks", "start_step": 600, "end_step": 644, "id": "reasoning-language-00012", "text": "Left hand: idle: Partially visible left hand stays at the far left edge of the frame, empty, with no observable movement or contact with any objects. | Right hand: retreat: Right hand stays empty, moves up and right away from the yellow-headed wooden mallet on the black work surface, and exits the top-right edge of the frame."}, {"label": "home", "start_step": 602, "end_step": 749, "id": "MhaV0UoyW1AcYDLnwqyl9"}, {"label": "subtasks", "start_step": 645, "end_step": 749, "id": "reasoning-language-00013", "text": "Left hand: idle: Partially visible left hand stays at the far left edge of the frame, empty, with no observable movement or contact with any objects."}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 59, "id": "reasoning-language-00001", "text": "Left hand: idle: Partially visible left hand stays at the far left edge of the frame, empty, with no observable movement or contact with any objects. | Right hand: reach: Empty right hand enters the frame from the top right edge and moves toward the central workspace without contacting any objects."}, {"label": "subtasks", "start_step": 60, "end_step": 134, "id": "reasoning-language-00002", "text": "Left hand: idle: Partially visible left hand stays at the far left edge of the frame, empty, with no observable movement or contact with any objects. | Right hand: reach: Right hand moves down-left toward the wooden handle of the yellow mallet with fingers extended, without contacting the mallet."}, {"label": "subtasks", "start_step": 135, "end_step": 224, "id": "reasoning-language-00003", "text": "Left hand: idle: Partially visible left hand stays at the far left edge of the frame, empty, with no observable movement or contact with any objects. | Right hand: grasp: Right hand closes fingers around the wooden handle of the yellow mallet, adjusting finger positions to establish a grip while the mallet rests on the black work surface."}, {"label": "subtasks", "start_step": 225, "end_step": 247, "id": "reasoning-language-00004", "text": "Left hand: idle: Partially visible left hand stays at the far left edge of the frame, empty, with no observable movement or contact with any objects. | Right hand: grasp: Right hand adjusts its fingers around the light wooden handle of the yellow mallet resting on the black work surface to form a stable grip."}, {"label": "subtasks", "start_step": 248, "end_step": 314, "id": "reasoning-language-00005", "text": "Left hand: idle: Partially visible left hand stays at the far left edge of the frame, empty, with no observable movement or contact with any objects. | Right hand: lift_transport: Right hand lifts the yellow mallet fully off the black work surface and moves it leftward toward the light wooden peg toy, carrying it to the position above the peg board."}, {"label": "subtasks", "start_step": 315, "end_step": 389, "id": "reasoning-language-00006", "text": "Left hand: idle: Partially visible left hand stays at the far left edge of the frame, empty, with no observable movement or contact with any objects. | Right hand: hold: Right hand holds the yellow mallet steadily above the wooden peg toy, with no visible movement of the hand, fingers, or mallet."}, {"label": "subtasks", "start_step": 390, "end_step": 509, "id": "reasoning-language-00007", "text": "Left hand: idle: Partially visible left hand stays at the far 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"reasoning-language-00012", "text": "Left hand: idle: Partially visible left hand stays at the far left edge of the frame, empty, with no observable movement or contact with any objects. | Right hand: retreat: Right hand stays empty, moves up and right away from the yellow-headed wooden mallet on the black work surface, and exits the top-right edge of the frame."}, {"label": "subtasks", "start_step": 645, "end_step": 749, "id": "reasoning-language-00013", "text": "Left hand: idle: Partially visible left hand stays at the far left edge of the frame, empty, with no observable movement or contact with any objects."}], "episode_index": 221} +{"source_uid": "f251463f898ac410", "num_frames": 787, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. 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apply downward pressure on the wooden peg."}, {"label": "subtasks", "start_step": 645, "end_step": 674, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty outside the left edge of the frame with no observable movement. | Right hand: lift: Right hand grips the wooden hammer handle and lifts the hammer upward until it is fully separated from the wooden peg toy base."}, {"label": "subtasks", "start_step": 675, "end_step": 697, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty outside the left edge of the frame with no observable movement. | Right hand: transport: Right hand carries the lifted wooden hammer and moves it horizontally to the right area of the black work surface."}, {"label": "subtasks", "start_step": 698, "end_step": 711, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty outside the left edge of the frame with no observable movement. | Right hand: reorient: Right hand rotates the held wooden hammer counterclockwise for about a quarter turn to adjust its orientation."}, {"label": "subtasks", "start_step": 712, "end_step": 734, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty outside the left edge of the frame with no observable movement. | Right hand: place_release: Right hand lowers the rotated wooden hammer down to the black work surface, then opens fingers to release the hammer onto the surface."}, {"label": "subtasks", "start_step": 735, "end_step": 794, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty outside the left edge of the frame with no observable movement. | Right hand: retreat: Right hand moves empty upward away from the yellow hammer placed on the black mat, traveling toward the top-right edge until it exits the visible frame."}, {"label": "subtasks", "start_step": 795, "end_step": 892, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty outside the left edge of the frame with no observable movement."}], "episode_index": 230} +{"source_uid": "214dd7b02ae9d745", "num_frames": 765, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Hammer_Nails_v2", "tags": {"task_name": "Hammer_Nails_v2", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "B", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 67, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without moving. | Right hand: idle: Right hand remains empty at the top right corner of the frame without moving."}, {"label": "valid", "start_step": 0, "end_step": 615, "id": "W1TPFG-hc3YqXeZhbe6Z9"}, {"label": "subtasks", "start_step": 68, "end_step": 149, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without moving. | Right hand: reach: Right hand moves downward and leftward from the top right corner toward the wooden handle of the yellow-headed mallet on the black work surface, with fingers slightly open, making initial contact with the handle by the end of the segment without forming a stable grasp."}, {"label": "subtasks", "start_step": 150, "end_step": 231, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without moving. | Right hand: grasp: Right hand closes fingers and makes slight adjustments to securely grip the wooden mallet handle resting on the black mat."}, {"label": "subtasks", "start_step": 232, "end_step": 247, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without moving. | Right hand: lift: Right hand lifts the gripped wooden mallet upward, fully separating it from the black supporting mat."}, {"label": "subtasks", "start_step": 248, "end_step": 299, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without moving. | Right hand: transport: Right hand carries the lifted wooden mallet through the air to the position above the wooden peg platform."}, {"label": "subtasks", "start_step": 300, "end_step": 329, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without moving. | Right hand: place: Right hand lowers the wooden mallet downward until the mallet head is supported by the wooden peg platform."}, {"label": "subtasks", "start_step": 330, "end_step": 449, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without moving. | Right hand: grasp: Right hand makes small adjustments to its grip on the wooden mallet handle, with slight finger movements and small vertical shifts of the mallet to stabilize the hold."}, {"label": "subtasks", "start_step": 450, "end_step": 487, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without moving. | Right hand: hold: Right hand holds the wooden mallet handle steadily, with no observable movement of the hand, fingers or the mallet."}, {"label": "subtasks", "start_step": 488, "end_step": 524, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without moving. | Right hand: press: Right hand presses the wooden mallet vertically downwards into the hole on the perforated wooden board, with minor finger adjustments during the pressing motion."}, {"label": "subtasks", "start_step": 525, "end_step": 577, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without moving. | Right hand: lift_transport: Right hand holds the wooden mallet, lifts it off the wooden pegboard, and transports it rightward to the area above the right side of the black work surface."}, {"label": "subtasks", "start_step": 578, "end_step": 599, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without moving. | Right hand: place_release: Right hand lowers the wooden mallet onto the right side of the black work surface, opens its fingers to release the mallet, and separates from the mallet handle as the mallet rests on the surface."}, {"label": "subtasks", "start_step": 600, "end_step": 659, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without moving. | Right hand: retreat: Right hand moves empty upward and rightward away from the placed mallet, retreating toward the upper right edge of the frame."}, {"label": "home", "start_step": 616, "end_step": 764, "id": "eGo-MjNGgOildzhKeDyab"}, {"label": "subtasks", "start_step": 660, "end_step": 764, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without moving."}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 67, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without moving. | Right hand: idle: Right hand remains empty at the top right corner of the frame without moving."}, {"label": "subtasks", "start_step": 68, "end_step": 149, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without moving. | Right hand: reach: Right hand moves downward and leftward from the top right corner toward the wooden handle of the yellow-headed mallet on the black work surface, with fingers slightly open, making initial contact with the handle by the end of the segment without forming a stable grasp."}, {"label": "subtasks", "start_step": 150, "end_step": 231, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without moving. | Right hand: grasp: Right hand closes fingers and makes slight adjustments to securely grip the wooden mallet handle resting on the black mat."}, {"label": "subtasks", "start_step": 232, "end_step": 247, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without moving. | Right hand: lift: Right hand lifts the gripped wooden mallet upward, fully separating it from the black supporting mat."}, {"label": "subtasks", "start_step": 248, "end_step": 299, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without moving. | Right hand: transport: Right hand carries the lifted wooden mallet through the air to the position above the wooden peg platform."}, {"label": "subtasks", "start_step": 300, "end_step": 329, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without moving. | Right hand: place: Right hand lowers the wooden mallet downward until the mallet head is supported by the wooden peg platform."}, {"label": "subtasks", "start_step": 330, "end_step": 449, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without moving. | Right hand: grasp: Right hand makes small adjustments to its grip on the wooden mallet handle, with slight finger movements and small vertical shifts of the mallet to stabilize the hold."}, {"label": "subtasks", "start_step": 450, "end_step": 487, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without moving. | Right hand: hold: Right hand holds the wooden mallet handle steadily, with no observable movement of the hand, fingers or the mallet."}, {"label": "subtasks", "start_step": 488, "end_step": 524, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without moving. | Right hand: press: Right hand presses the wooden mallet vertically downwards into the hole on the perforated wooden board, with minor finger adjustments during the pressing motion."}, {"label": "subtasks", "start_step": 525, "end_step": 577, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without moving. | Right hand: lift_transport: Right hand holds the wooden mallet, lifts it off the wooden pegboard, and transports it rightward to the area above the right side of the black work surface."}, {"label": "subtasks", "start_step": 578, "end_step": 599, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without moving. | Right hand: place_release: Right hand lowers the wooden mallet onto the right side of the black work surface, opens its fingers to release the mallet, and separates from the mallet handle as the mallet rests on the surface."}, {"label": "subtasks", "start_step": 600, "end_step": 659, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without moving. | Right hand: retreat: Right hand moves empty upward and rightward away from the placed mallet, retreating toward the upper right edge of the frame."}, {"label": "subtasks", "start_step": 660, "end_step": 764, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without moving."}], "episode_index": 231} +{"source_uid": "a9996bf0a742b125", "num_frames": 795, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table.", "tags": {"task_name": "Hammer Nails", "task_instruction": "Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table.", "scene_description": "A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back.", "success_criteria": "Both nails are hammered down securely, and the hammer is placed back stably on the table.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 180, "id": "subtask-001", "text": "Pick up the hammer from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 181, "end_step": 400, "id": "subtask-002", "text": "Hammer down the first nail with the right hand. | Skill: press", "task_skill": "press", "atomic_action": []}, {"label": "subtasks", "start_step": 401, "end_step": 535, "id": "subtask-003", "text": "Hammer down the second nail with the right hand. | Skill: press", "task_skill": "press", "atomic_action": []}, {"label": "subtasks", "start_step": 536, "end_step": 625, "id": "subtask-004", "text": "Place the hammer back 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"/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData/Hammer_Nails_v2/season_POC22048_2026_05_22_10_21_37_train/POC22048_2026_05_22_16_38_00_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/hammer_nails/season_POC22048_2026_05_22_10_21_37_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 163, "v40_language_source": "previous_published_lerobot", "episode_index": 232} +{"source_uid": "0a07241f64a127e5", "num_frames": 955, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Hammer_Nails_v2", "tags": {"task_name": "Hammer_Nails_v2", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "B", "SOP": ""}, "segments": [{"label": "valid", "start_step": 0, "end_step": 805, "id": "JjltjOKFoCRfnq86pQBwX"}, {"label": "subtasks", "start_step": 75, "end_step": 141, "id": "reasoning-language-00001", "text": "Right hand: reach: Right hand moves downward from the upper right of the frame while empty, approaching the wooden handle of the mallet placed on the black work surface."}, {"label": "subtasks", "start_step": 142, "end_step": 209, "id": "reasoning-language-00002", "text": "Right hand: grasp: Right hand curls its fingers to close around the wooden handle of the mallet, adjusting finger positions to form a stable grasp while the mallet remains resting on the table."}, {"label": "subtasks", "start_step": 210, "end_step": 247, "id": "reasoning-language-00003", "text": "Right hand: lift: Right hand lifts the grasped mallet upward until the entire mallet is fully separated from the supporting black work surface."}, {"label": "subtasks", "start_step": 248, "end_step": 329, "id": "reasoning-language-00004", "text": "Right hand: transport: Right hand carries the lifted mallet toward the central wooden peg platform, positioning the yellow mallet head above the red peg on the platform surface."}, {"label": "subtasks", "start_step": 330, "end_step": 359, "id": "reasoning-language-00005", "text": "Right hand: hold: Right hand holds the wooden mallet handle stationary, with the yellow mallet head positioned over the wooden peg on the perforated wooden board."}, {"label": "subtasks", "start_step": 360, "end_step": 584, "id": "reasoning-language-00006", "text": "Right hand: other:repeated_tapping: Right hand holds the wooden mallet handle and makes small repeated up and down movements, driving the yellow mallet head to repeatedly tap the wooden peg on the perforated wooden board."}, {"label": "subtasks", "start_step": 585, "end_step": 644, "id": "reasoning-language-00007", "text": "Right hand: hold: Right hand holds the wooden mallet handle without moving, with the yellow mallet head resting against the wooden peg on the perforated wooden board."}, {"label": "subtasks", "start_step": 645, "end_step": 689, "id": "reasoning-language-00008", "text": "Right hand: press: Right hand holds the wooden mallet handle and moves slightly downward, applying vertical pressure to the wooden peg via the yellow mallet head."}, {"label": "subtasks", "start_step": 690, "end_step": 704, "id": "reasoning-language-00009", "text": "Right hand: lift: Right hand grips the wooden mallet and lifts its wooden handle end off the black work surface."}, {"label": "subtasks", "start_step": 705, "end_step": 749, "id": "reasoning-language-00010", "text": "Right hand: transport: Right hand holds the lifted wooden mallet and moves it rightward through the air above the black textured work surface, away from the wooden peg toy with green posts."}, {"label": "subtasks", "start_step": 750, "end_step": 764, "id": "reasoning-language-00011", "text": "Right hand: place_release: Right hand lowers the wooden mallet to rest its yellow head on the right section of the black work surface, opens fingers to release the mallet handle so the mallet lies flat on the surface."}, {"label": "subtasks", "start_step": 765, "end_step": 809, "id": "reasoning-language-00012", "text": "Right hand: idle: Right hand remains empty above the right section of the black work surface, with no visible movement of the hand or fingers."}, {"label": "home", "start_step": 806, "end_step": 954, "id": "JR6OIsAkAEiJz5Nnrhs54"}, {"label": "subtasks", "start_step": 810, "end_step": 854, "id": "reasoning-language-00013", "text": "Right hand: retreat: Right hand moves upward toward the top-right edge of the frame while empty, exiting the frame through the top-right edge."}, {"label": "subtasks", "start_step": 945, "end_step": 954, "id": "reasoning-language-00014", "text": "Right hand: reach_grasp: Right hand enters the frame from the top-right edge, moves toward the yellow head of the wooden mallet, closing fingers around the mallet head."}], "language_segments": [{"label": "subtasks", "start_step": 75, "end_step": 141, "id": "reasoning-language-00001", "text": "Right hand: reach: Right hand moves downward from the upper right of the frame while empty, approaching the wooden handle of the mallet placed on the black work surface."}, {"label": "subtasks", "start_step": 142, "end_step": 209, "id": "reasoning-language-00002", "text": "Right hand: grasp: Right hand curls its fingers to close around the wooden handle of the mallet, adjusting finger positions to form a stable grasp while the mallet remains resting on the table."}, {"label": "subtasks", "start_step": 210, "end_step": 247, "id": "reasoning-language-00003", "text": "Right hand: lift: Right hand lifts the grasped mallet upward until the entire mallet is fully separated from the supporting black work surface."}, {"label": "subtasks", "start_step": 248, "end_step": 329, "id": "reasoning-language-00004", "text": "Right hand: transport: Right hand carries the lifted mallet toward the central wooden peg platform, positioning the yellow mallet head above the red peg on the platform surface."}, {"label": "subtasks", "start_step": 330, "end_step": 359, "id": "reasoning-language-00005", "text": "Right hand: hold: Right hand holds the wooden mallet handle stationary, with the yellow mallet head positioned over the wooden peg on the perforated wooden board."}, {"label": "subtasks", "start_step": 360, "end_step": 584, "id": "reasoning-language-00006", "text": "Right hand: other:repeated_tapping: Right hand holds the wooden mallet handle and makes small repeated up and down movements, driving the yellow mallet head to repeatedly tap the wooden peg on the perforated wooden board."}, {"label": "subtasks", "start_step": 585, "end_step": 644, "id": "reasoning-language-00007", "text": "Right hand: hold: Right hand holds the wooden mallet handle without moving, with the yellow mallet head resting against the wooden peg on the perforated wooden board."}, {"label": "subtasks", "start_step": 645, "end_step": 689, "id": "reasoning-language-00008", "text": "Right hand: press: Right hand holds the wooden mallet handle and moves slightly downward, applying vertical pressure to the wooden peg via the yellow mallet head."}, {"label": "subtasks", "start_step": 690, "end_step": 704, "id": "reasoning-language-00009", "text": "Right hand: lift: Right hand grips the wooden mallet and lifts its wooden handle end off the black work surface."}, {"label": "subtasks", "start_step": 705, "end_step": 749, "id": "reasoning-language-00010", "text": "Right hand: transport: Right hand holds the lifted wooden mallet and moves it rightward through the air above the black textured work surface, away from the wooden peg toy with green posts."}, {"label": "subtasks", "start_step": 750, "end_step": 764, "id": "reasoning-language-00011", "text": "Right hand: place_release: Right hand lowers the wooden mallet to rest its yellow head on the right section of the black work surface, opens fingers to release the mallet handle so the mallet lies flat on the surface."}, {"label": "subtasks", "start_step": 765, "end_step": 809, "id": "reasoning-language-00012", "text": "Right hand: idle: Right hand remains empty above the right section of the black work surface, with no visible movement of the hand or fingers."}, {"label": "subtasks", "start_step": 810, "end_step": 854, "id": "reasoning-language-00013", "text": "Right hand: retreat: Right hand moves upward toward the top-right edge of the frame while empty, exiting the frame through the top-right edge."}, {"label": "subtasks", "start_step": 945, "end_step": 954, "id": "reasoning-language-00014", "text": "Right hand: reach_grasp: Right hand enters the frame from the top-right edge, moves toward the yellow head of the wooden mallet, closing fingers around the mallet head."}], "episode_index": 233} +{"source_uid": "1a05a663aa691c08", "num_frames": 865, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Hammer_Nails_v2", "tags": {"task_name": "Hammer_Nails_v2", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "B", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 134, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand is partially visible at the far left edge of the frame in the first few frames before moving out of view, remaining empty with no observable operational movement across the entire segment. | Right hand: reach: Right hand starts at the top-right edge of the frame and moves downward toward the wooden handle of the yellow mallet, remaining empty with fingers slightly extended as it approaches the target."}, {"label": "valid", "start_step": 0, "end_step": 716, "id": "OUJF6gjkQ7_n8wvojLOS1"}, {"label": "subtasks", "start_step": 135, "end_step": 194, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand is partially visible at the far left edge of the frame in the first few frames before moving out of view, remaining empty with no observable operational movement across the entire segment. | Right hand: grasp: Right hand makes contact with the wooden handle of the yellow mallet, fingers close around the handle and make small adjustments to establish a grip, while the mallet stays resting on the black textured work surface."}, {"label": "subtasks", "start_step": 195, "end_step": 217, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand is partially visible at the far left edge of the frame in the first few frames before moving out of view, remaining empty with no observable operational movement across the entire segment. | Right hand: grasp: Right hand adjusts finger positions to form a stable grasp on the wooden handle of the yellow mallet, which rests fully on the black table surface."}, {"label": "subtasks", "start_step": 218, "end_step": 261, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand is partially visible at the far left edge of the frame in the first few frames before moving out of view, remaining empty with no observable operational movement across the entire segment. | Right hand: lift: Right hand lifts the grasped yellow mallet upward, gradually raising the mallet until it is completely lifted off the black table surface."}, {"label": "subtasks", "start_step": 262, "end_step": 291, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand is partially visible at the far left edge of the frame in the first few frames before moving out of view, remaining empty with no observable operational movement across the entire segment. | Right hand: transport: Right hand moves the fully lifted yellow mallet leftward toward the central wooden peg board, with the mallet suspended in air during movement."}, {"label": "subtasks", "start_step": 292, "end_step": 337, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand is partially visible at the far left edge of the frame in the first few frames before moving out of view, remaining empty with no observable operational movement across the entire segment. | Right hand: hold: Right hand holds the yellow mallet stationary, with the mallet head resting against the left green support post of the peg board and the mallet handle end touching the black table surface."}, {"label": "subtasks", "start_step": 338, "end_step": 389, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand is partially visible at the far left edge of the frame in the first few frames before moving out of view, remaining empty with no observable operational movement across the entire segment. | Right hand: place: Right hand moves the grasped yellow mallet downward to place the mallet head onto the surface of the wooden peg board, until the mallet head is stably supported by the board."}, {"label": "subtasks", "start_step": 390, "end_step": 479, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand is partially visible at the far left edge of the frame in the first few frames before moving out of view, remaining empty with no observable operational movement across the entire segment."}, {"label": "subtasks", "start_step": 480, "end_step": 561, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand is partially visible at the far left edge of the frame in the first few frames before moving out of view, remaining empty with no observable operational movement across the entire segment. | Right hand: press: Right hand holds the wooden mallet, moves it vertically downward to press the yellow cylindrical peg on the holed wooden board, applying downward pressure to push the peg slightly through the board hole."}, {"label": "subtasks", "start_step": 562, "end_step": 629, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand is partially visible at the far left edge of the frame in the first few frames before moving out of view, remaining empty with no observable operational movement across the entire segment. | Right hand: transport: Right hand holds the wooden mallet, moves it slightly upward and repositions it directly above the yellow peg, carrying the mallet over a small spatial range."}, {"label": "subtasks", "start_step": 630, "end_step": 644, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand is partially visible at the far left edge of the frame in the first few frames before moving out of view, remaining empty with no observable operational movement across the entire segment. | Right hand: lift: Right hand grips the wooden mallet and lifts it upward, raising the mallet completely clear of the wooden peg platform."}, {"label": "subtasks", "start_step": 645, "end_step": 674, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand is partially visible at the far left edge of the frame in the first few frames before moving out of view, remaining empty with no observable operational movement across the entire segment. | Right hand: transport: Right hand carries the lifted wooden mallet along an arcing path up to the upper right area and down toward the black table surface."}, {"label": "subtasks", "start_step": 675, "end_step": 689, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand is partially visible at the far left edge of the frame in the first few frames before moving out of view, remaining empty with no observable operational movement across the entire segment. | Right hand: place_release: Right hand lowers the wooden mallet onto the black table surface, opens its fingers to release the mallet, leaving the mallet fully supported on the table with the hand separated from the mallet."}, {"label": "subtasks", "start_step": 690, "end_step": 719, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand is partially visible at the far left edge of the frame in the first few frames before moving out of view, remaining empty with no observable operational movement across the entire segment. | Right hand: retreat: Right hand, empty after releasing the mallet, moves upward and away from the mallet's position on the table."}, {"label": "home", "start_step": 717, "end_step": 864, "id": "OXwhpV79rwGzekazN9b7V"}, {"label": "subtasks", "start_step": 720, "end_step": 854, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand is partially visible at the far left edge of the frame in the first few frames before moving out of view, remaining empty with no observable operational movement across the entire segment."}, {"label": "subtasks", "start_step": 855, "end_step": 864, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand is partially visible at the far left edge of the frame in the first few frames before moving out of view, remaining empty with no observable operational movement across the entire segment. | Right hand: reach: Right hand enters from the top-right edge of the frame and moves downward toward the yellow wooden mallet, approaching the yellow mallet head."}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 134, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand is partially visible at the far left edge of the frame in the first few frames before moving out of view, remaining empty with no observable operational movement across the entire segment. | Right hand: reach: Right hand starts at the top-right edge of the frame and moves downward toward the wooden handle of the yellow mallet, remaining empty with fingers slightly extended as it approaches the target."}, {"label": "subtasks", "start_step": 135, "end_step": 194, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand is partially visible at the far left edge of the frame in the first few frames before moving out of view, remaining empty with no observable operational movement across the entire segment. | Right hand: grasp: Right hand makes contact with the wooden handle of the yellow mallet, fingers close around the handle and make small adjustments to establish a grip, while the mallet stays resting on the black textured work surface."}, {"label": "subtasks", "start_step": 195, "end_step": 217, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand is partially visible at the far left edge of the frame in the first few frames before moving out of view, remaining empty with no observable operational movement across the entire segment. | Right hand: grasp: Right hand adjusts finger positions to form a stable grasp on the wooden handle of the yellow mallet, which rests fully on the black table surface."}, {"label": "subtasks", "start_step": 218, "end_step": 261, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand is partially visible at the far left edge of the frame in the first few frames before moving out of view, remaining empty with no observable operational movement across the entire segment. | Right hand: lift: Right hand lifts the grasped yellow mallet upward, gradually raising the mallet until it is completely lifted off the black table surface."}, {"label": "subtasks", "start_step": 262, "end_step": 291, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand is partially visible at the far left edge of the frame in the first few frames before moving out of view, remaining empty with no observable operational movement across the entire segment. | Right hand: transport: Right hand moves the fully lifted yellow mallet leftward toward the central wooden peg board, with the mallet suspended in air during movement."}, {"label": "subtasks", "start_step": 292, "end_step": 337, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand is partially visible at the far left edge of the frame in the first few frames before moving out of view, remaining empty with no observable operational movement across the entire segment. | Right hand: hold: Right hand holds the yellow mallet stationary, with the mallet head resting against the left green support post of the peg board and the mallet handle end touching the black table surface."}, {"label": "subtasks", "start_step": 338, "end_step": 389, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand is partially visible at the far left edge of the frame in the first few frames before moving out of view, remaining empty with no observable operational movement across the entire segment. | Right hand: place: Right hand moves the grasped yellow mallet downward to place the mallet head onto the surface of the wooden peg board, until the mallet head is stably supported by the board."}, {"label": "subtasks", "start_step": 390, "end_step": 479, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand is partially visible at the far left edge of the frame in the first few frames before moving out of view, remaining empty with no observable operational movement across the entire segment."}, {"label": "subtasks", "start_step": 480, "end_step": 561, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand is partially visible at the far left edge of the frame in the first few frames before moving out of view, remaining empty with no observable operational movement across the entire segment. | Right hand: press: Right hand holds the wooden mallet, moves it vertically downward to press the yellow cylindrical peg on the holed wooden board, applying downward pressure to push the peg slightly through the board hole."}, {"label": "subtasks", "start_step": 562, "end_step": 629, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand is partially visible at the far left edge of the frame in the first few frames before moving out of view, remaining empty with no observable operational movement across the entire segment. | Right hand: transport: Right hand holds the wooden mallet, moves it slightly upward and repositions it directly above the yellow peg, carrying the mallet over a small spatial range."}, {"label": "subtasks", "start_step": 630, "end_step": 644, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand is partially visible at the far left edge of the frame in the first few frames before moving out of view, remaining empty with no observable operational movement across the entire segment. | Right hand: lift: Right hand grips the wooden mallet and lifts it upward, raising the mallet completely clear of the wooden peg platform."}, {"label": "subtasks", "start_step": 645, "end_step": 674, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand is partially visible at the far left edge of the frame in the first few frames before moving out of view, remaining empty with no observable operational movement across the entire segment. | Right hand: transport: Right hand carries the lifted wooden mallet along an arcing path up to the upper right area and down toward the black table surface."}, {"label": "subtasks", "start_step": 675, "end_step": 689, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand is partially visible at the far left edge of the frame in the first few frames before moving out of view, remaining empty with no observable operational movement across the entire segment. | Right hand: place_release: Right hand lowers the wooden mallet onto the black table surface, opens its fingers to release the mallet, leaving the mallet fully supported on the table with the hand separated from the mallet."}, {"label": "subtasks", "start_step": 690, "end_step": 719, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand is partially visible at the far left edge of the frame in the first few frames before moving out of view, remaining empty with no observable operational movement across the entire segment. | Right hand: retreat: Right hand, empty after releasing the mallet, moves upward and away from the mallet's position on the table."}, {"label": "subtasks", "start_step": 720, "end_step": 854, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand is partially visible at the far left edge of the frame in the first few frames before moving out of view, remaining empty with no observable operational movement across the entire segment."}, {"label": "subtasks", "start_step": 855, "end_step": 864, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand is partially visible at the far left edge of the frame in the first few frames before moving out of view, remaining empty with no observable operational movement across the entire segment. | Right hand: reach: Right hand enters from the top-right edge of the frame and moves downward toward the yellow wooden mallet, approaching the yellow mallet head."}], "episode_index": 234} +{"source_uid": "5aa8b40ba49e6bd4", "num_frames": 859, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Hammer_Nails_v2", "tags": {"task_name": "Hammer_Nails_v2", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "B", "SOP": ""}, "segments": [{"label": "valid", "start_step": 0, "end_step": 710, "id": "_told-r2i5w-I_PLBJ77U"}, {"label": "subtasks", "start_step": 60, "end_step": 111, "id": "reasoning-language-00001", "text": "Right hand: reach: Right hand moves diagonally down-left from the top-right edge of the frame toward the wooden handle of the yellow-headed hammer, staying empty without touching the hammer."}, {"label": "subtasks", "start_step": 112, "end_step": 194, "id": "reasoning-language-00002", "text": "Right hand: grasp: Right hand makes contact with the wooden handle of the hammer, closing fingers and making slight positional adjustments to form a grip on the handle."}, {"label": "subtasks", "start_step": 195, "end_step": 217, "id": "reasoning-language-00003", "text": "Right hand: grasp: Right hand adjusts finger positions to firmly close around the wooden handle of the yellow-headed hammer resting on the black work surface to the right of the wooden bench."}, {"label": "subtasks", "start_step": 218, "end_step": 247, "id": "reasoning-language-00004", "text": "Right hand: lift: Right hand lifts the grasped hammer upward, raising the entire hammer completely off the black supporting work surface."}, {"label": "subtasks", "start_step": 248, "end_step": 299, "id": "reasoning-language-00005", "text": "Right hand: transport: Right hand carries the lifted hammer leftward through the air, moving it to the position directly above the central wooden workbench."}, {"label": "subtasks", "start_step": 300, "end_step": 321, "id": "reasoning-language-00006", "text": "Right hand: place: Right hand lowers the hammer downward, setting the yellow hammer head onto the surface of the central wooden workbench until the hammer is supported by the bench."}, {"label": "subtasks", "start_step": 322, "end_step": 419, "id": "reasoning-language-00007", "text": "Right hand: hold: Right hand holds the wooden handle of the hammer stationary, with the yellow hammer head resting supported on the central wooden workbench, with no observable movement of the hand or hammer."}, {"label": "subtasks", "start_step": 420, "end_step": 517, "id": "reasoning-language-00008", "text": "Right hand: grasp: Right hand adjusts finger positions on the wooden hammer handle and makes small wrist movements to slightly rotate and reposition the hammer, stabilizing the grip above the workbench."}, {"label": "subtasks", "start_step": 518, "end_step": 554, "id": "reasoning-language-00009", "text": "Right hand: hold: Right hand holds the wooden hammer steadily above the workbench, with no observable movement of the fingers, wrist or the hammer itself."}, {"label": "subtasks", "start_step": 555, "end_step": 614, "id": "reasoning-language-00010", "text": "Right hand: grasp: Right hand slightly adjusts finger contact points on the hammer handle and moves the wrist to make minor positional adjustments to the hammer above the workbench to stabilize the grip."}, {"label": "subtasks", "start_step": 615, "end_step": 637, "id": "reasoning-language-00011", "text": "Right hand: lift: Right hand firmly grips the handle of the yellow-headed wooden hammer and lifts it upward, separating it from the surface of the wooden peg toy base."}, {"label": "subtasks", "start_step": 638, "end_step": 674, "id": "reasoning-language-00012", "text": "Right hand: transport: Right hand holds the hammer and moves it horizontally rightward through the air to the position above the right side of the black table."}, {"label": "subtasks", "start_step": 675, "end_step": 689, "id": "reasoning-language-00013", "text": "Right hand: place_release: Right hand lowers the hammer down to contact the black table surface, opens its fingers to release the hammer, leaving it lying stably on the table."}, {"label": "subtasks", "start_step": 690, "end_step": 704, "id": "reasoning-language-00014", "text": "Right hand: retreat: Right hand moves slightly upward away from the placed hammer, staying empty as it pulls back from the hammer's position."}, {"label": "home", "start_step": 711, "end_step": 858, "id": "zHnp5Rb4Ndqmblm3-VZnc"}], "language_segments": [{"label": "subtasks", "start_step": 60, "end_step": 111, "id": "reasoning-language-00001", "text": "Right hand: reach: Right hand moves diagonally down-left from the top-right edge of the frame toward the wooden handle of the yellow-headed hammer, staying empty without touching the hammer."}, {"label": "subtasks", "start_step": 112, "end_step": 194, "id": "reasoning-language-00002", "text": "Right hand: grasp: Right hand makes contact with the wooden handle of the hammer, closing fingers and making slight positional adjustments to form a grip on the handle."}, {"label": "subtasks", "start_step": 195, "end_step": 217, "id": "reasoning-language-00003", "text": "Right hand: grasp: Right hand adjusts finger positions to firmly close around the wooden handle of the yellow-headed hammer resting on the black work surface to the right of the wooden bench."}, {"label": "subtasks", "start_step": 218, "end_step": 247, "id": "reasoning-language-00004", "text": "Right hand: lift: Right hand lifts the grasped hammer upward, raising the entire hammer completely off the black supporting work surface."}, {"label": "subtasks", "start_step": 248, "end_step": 299, "id": "reasoning-language-00005", "text": "Right hand: transport: Right hand carries the lifted hammer leftward through the air, moving it to the position directly above the central wooden workbench."}, {"label": "subtasks", "start_step": 300, "end_step": 321, "id": "reasoning-language-00006", "text": "Right hand: place: Right hand lowers the hammer downward, setting the yellow hammer head onto the surface of the central wooden workbench until the hammer is supported by the bench."}, {"label": "subtasks", "start_step": 322, "end_step": 419, "id": "reasoning-language-00007", "text": "Right hand: hold: Right hand holds the wooden handle of the hammer stationary, with the yellow hammer head resting supported on the central wooden workbench, with no observable movement of the hand or hammer."}, {"label": "subtasks", "start_step": 420, "end_step": 517, "id": "reasoning-language-00008", "text": "Right hand: grasp: Right hand adjusts finger positions on the wooden hammer handle and makes small wrist movements to slightly rotate and reposition the hammer, stabilizing the grip above the workbench."}, {"label": "subtasks", "start_step": 518, "end_step": 554, "id": "reasoning-language-00009", "text": "Right hand: hold: Right hand holds the wooden hammer steadily above the workbench, with no observable movement of the fingers, wrist or the hammer itself."}, {"label": "subtasks", "start_step": 555, "end_step": 614, "id": "reasoning-language-00010", "text": "Right hand: grasp: Right hand slightly adjusts finger contact points on the hammer handle and moves the wrist to make minor positional adjustments to the hammer above the workbench to stabilize the grip."}, {"label": "subtasks", "start_step": 615, "end_step": 637, "id": "reasoning-language-00011", "text": "Right hand: lift: Right hand firmly grips the handle of the yellow-headed wooden hammer and lifts it upward, separating it from the surface of the wooden peg toy base."}, {"label": "subtasks", "start_step": 638, "end_step": 674, "id": "reasoning-language-00012", "text": "Right hand: transport: Right hand holds the hammer and moves it horizontally rightward through the air to the position above the right side of the black table."}, {"label": "subtasks", "start_step": 675, "end_step": 689, "id": "reasoning-language-00013", "text": "Right hand: place_release: Right hand lowers the hammer down to contact the black table surface, opens its fingers to release the hammer, leaving it lying stably on the table."}, {"label": "subtasks", "start_step": 690, "end_step": 704, "id": "reasoning-language-00014", "text": "Right hand: retreat: Right hand moves slightly upward away from the placed hammer, staying empty as it pulls back from the hammer's position."}], "episode_index": 235} +{"source_uid": "b46fdeece081c744", "num_frames": 782, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table.", "tags": {"task_name": "Hammer Nails", "task_instruction": "Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table.", "scene_description": "A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back.", "success_criteria": "Both nails are hammered down securely, and the hammer is placed back stably on the table.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 210, "id": "subtask-001", "text": "Pick up the hammer from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 211, "end_step": 385, "id": "subtask-002", "text": "Hammer down the first nail with the right hand. | Skill: press", "task_skill": "press", "atomic_action": []}, {"label": "subtasks", "start_step": 386, "end_step": 525, "id": "subtask-003", "text": "Hammer down the second nail with the right hand. | Skill: press", "task_skill": "press", "atomic_action": []}, {"label": "subtasks", "start_step": 526, "end_step": 620, "id": "subtask-004", "text": "Place the hammer back on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 210, "id": "subtask-001", "text": "Pick up the hammer from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 211, "end_step": 385, "id": "subtask-002", "text": "Hammer down the first nail with the right hand. | Skill: press", "task_skill": "press", "atomic_action": []}, {"label": "subtasks", "start_step": 386, "end_step": 525, "id": "subtask-003", "text": "Hammer down the second nail with the right hand. | Skill: press", "task_skill": "press", "atomic_action": []}, {"label": "subtasks", "start_step": 526, "end_step": 620, "id": "subtask-004", "text": "Place the hammer back on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData/Hammer_Nails_v2/season_POC22048_2026_05_22_10_21_37_train/POC22048_2026_05_22_16_42_26_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/hammer_nails/season_POC22048_2026_05_22_10_21_37_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 164, "v40_language_source": "previous_published_lerobot", "episode_index": 236} +{"source_uid": "f81cf63f7c14fd1c", "num_frames": 813, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Hammer_Nails_v2", "tags": {"task_name": "Hammer_Nails_v2", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "B", "SOP": ""}, "segments": [{"label": "valid", "start_step": 0, "end_step": 664, "id": "0Rkd1VW-HIPgPGemM4yN6"}, {"label": "subtasks", "start_step": 15, "end_step": 127, "id": "reasoning-language-00001", "text": "Right hand: reach: Right hand moves leftward from the right edge of the frame toward the wooden handle of the yellow mallet, remaining empty and not contacting the mallet."}, {"label": "subtasks", "start_step": 128, "end_step": 149, "id": "reasoning-language-00002", "text": "Right hand: grasp: Right hand grasps the wooden handle of the yellow mallet, with fingers closing around the handle to establish a stable grip."}, {"label": "subtasks", "start_step": 150, "end_step": 179, "id": "reasoning-language-00003", "text": "Right hand: grasp: Right hand closes its fingers to grasp the wooden handle of the yellow-headed hammer on the black textured mat."}, {"label": "subtasks", "start_step": 180, "end_step": 224, "id": "reasoning-language-00004", "text": "Right hand: lift: Right hand lifts the yellow-headed mallet by its wooden handle from the black textured table surface, moving it upward and leftward until the mallet is fully off the surface."}, {"label": "subtasks", "start_step": 225, "end_step": 269, "id": "reasoning-language-00005", "text": "Right hand: transport: Right hand transports the yellow-headed mallet leftward and upward to the area above the wooden pegboard, rotating the mallet so its yellow head faces upward."}, {"label": "subtasks", "start_step": 270, "end_step": 307, "id": "reasoning-language-00006", "text": "Right hand: transport: Right hand carries the mallet and moves it downward to make the mallet head contact the green peg on the wooden board."}, {"label": "subtasks", "start_step": 308, "end_step": 344, "id": "reasoning-language-00007", "text": "Right hand: hold: Right hand holds the mallet with its head resting on the green peg without moving."}, {"label": "subtasks", "start_step": 345, "end_step": 374, "id": "reasoning-language-00008", "text": "Right hand: press: Right hand holds the mallet and presses the green peg downward into the wooden board."}, {"label": "subtasks", "start_step": 375, "end_step": 427, "id": "reasoning-language-00009", "text": "Right hand: lift_transport: Right hand lifts the wooden mallet upward away from the supporting surface and moves it rightward to the position above the middle hole of the wooden board."}, {"label": "subtasks", "start_step": 428, "end_step": 464, "id": "reasoning-language-00010", "text": "Right hand: hold: Right hand holds the wooden mallet steady above the middle hole of the wooden board without any observable movement."}, {"label": "subtasks", "start_step": 465, "end_step": 524, "id": "reasoning-language-00011", "text": "Right hand: grasp: Right hand adjusts its grip on the wooden mallet handle with slight finger and wrist movements to stabilize the mallet."}, {"label": "subtasks", "start_step": 525, "end_step": 547, "id": "reasoning-language-00012", "text": "Right hand: hold: Right hand holds the wooden mallet with a yellow head above the red peg on the toy board without moving."}, {"label": "subtasks", "start_step": 548, "end_step": 561, "id": "reasoning-language-00013", "text": "Right hand: transport_press: Right hand moves the wooden mallet downward and presses its yellow head against the red peg on the toy board."}, {"label": "subtasks", "start_step": 562, "end_step": 569, "id": "reasoning-language-00014", "text": "Right hand: transport: Right hand moves the wooden mallet upward away from the red peg on the toy board."}, {"label": "subtasks", "start_step": 570, "end_step": 599, "id": "reasoning-language-00015", "text": "Right hand: transport: Right hand transports the mallet rightward, moving it from above the wooden pegboard with green pegs to the right side of the black textured working surface, keeping the mallet vertical with its yellow head upward."}, {"label": "subtasks", "start_step": 600, "end_step": 629, "id": "reasoning-language-00016", "text": "Right hand: reorient: Right hand reorients the mallet by rotating it clockwise approximately 90 degrees at a roughly fixed position, changing the mallet from a vertical orientation to a tilted orientation with the 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{"label": "subtasks", "start_step": 645, "end_step": 659, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary without contacting any operated objects throughout the segment. | Right hand: retreat: Right hand moves empty upward and away from the placed mallet on the work surface."}, {"label": "subtasks", "start_step": 660, "end_step": 812, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary without contacting any operated objects throughout the segment."}, {"label": "home", "start_step": 665, "end_step": 812, "id": "GLvLwlN4hvO0m1Y7yXZBL"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 67, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty and stationary without contacting any operated objects throughout the segment. | Right hand: idle: Right hand remains empty at the upper right edge of the frame, with no obvious movement during this 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{"label": "subtasks", "start_step": 592, "end_step": 621, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and stationary without contacting any operated objects throughout the segment. | Right hand: transport: Right hand holds the lifted mallet and moves it upward and rightward through the air to the position right of the peg board."}, {"label": "subtasks", "start_step": 622, "end_step": 644, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and stationary without contacting any operated objects throughout the segment. | Right hand: place_release: Right hand grips the mallet, lowers the mallet to set its yellow head on the black work surface, and opens the fingers to release the wooden handle."}, {"label": "subtasks", "start_step": 645, "end_step": 659, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary without contacting any operated objects throughout the segment. | Right hand: retreat: Right hand moves empty upward and away from the placed mallet on the work surface."}, {"label": "subtasks", "start_step": 660, "end_step": 812, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary without contacting any operated objects throughout the segment."}], "episode_index": 248} +{"source_uid": "80538e5b193edb40", "num_frames": 767, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. 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"text": "Left hand: idle: Left hand remains empty at the far left edge of the visible frame with no observable movement or finger posture change. | Right hand: idle: Right hand remains empty with fingers slightly extended near the placed yellow mallet on the black textured work surface, with no observable movement."}, {"label": "subtasks", "start_step": 712, "end_step": 749, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the far left edge of the visible frame with no observable movement or finger posture change. | Right hand: retreat: Right hand, empty with fingers slightly extended, moves upward and backward away from the placed yellow mallet on the black textured work surface."}, {"label": "subtasks", "start_step": 750, "end_step": 850, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the far left edge of the visible frame with no observable movement or finger posture change."}], "episode_index": 252} 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"/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData/Hammer_Nails_v2/season_POC22048_2026_05_22_10_21_37_train/POC22048_2026_05_22_16_59_26_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/hammer_nails/season_POC22048_2026_05_22_10_21_37_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 178, "v40_language_source": "previous_published_lerobot", "episode_index": 259} +{"source_uid": "32bbf46b144b40b0", "num_frames": 566, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Hammer_Nails_v2", "tags": {"task_name": "Hammer_Nails_v2", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "B", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 74, "id": "reasoning-language-00001", "text": "Right hand: reach: Right hand enters from the right edge of the frame and moves leftward toward the objects on the 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"end_step": 591, "id": "reasoning-language-00009", "text": "Right hand: transport: Right hand transports the hammer to move its yellow head above the red peg on the wooden base."}, {"label": "subtasks", "start_step": 592, "end_step": 644, "id": "reasoning-language-00010", "text": "Right hand: hold: Right hand holds the hammer stationary with the yellow head positioned above the red peg."}, {"label": "subtasks", "start_step": 645, "end_step": 689, "id": "reasoning-language-00011", "text": "Right hand: transport: Right hand transports the yellow hammer rightward above the black mat."}, {"label": "subtasks", "start_step": 690, "end_step": 704, "id": "reasoning-language-00012", "text": "Right hand: place: Right hand places the yellow hammer onto the black mat."}, {"label": "subtasks", "start_step": 705, "end_step": 719, "id": "reasoning-language-00013", "text": "Right hand: release: Right hand releases the yellow hammer on the black mat."}, {"label": "subtasks", "start_step": 720, 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"reasoning-language-00011", "text": "Right hand: press: Right hand holds the wooden mallet, moves it vertically downward, and presses the yellow mallet head back onto the surface of the wooden toy base."}, {"label": "subtasks", "start_step": 645, "end_step": 674, "id": "reasoning-language-00012", "text": "Right hand: lift: Right hand grips the wooden handle of the yellow mallet and lifts it upward, completely separating the mallet from the wooden peg toy surface."}, {"label": "subtasks", "start_step": 675, "end_step": 719, "id": "reasoning-language-00013", "text": "Right hand: transport: Right hand carries the lifted yellow mallet and moves it horizontally rightward across the black textured mat."}, {"label": "subtasks", "start_step": 720, "end_step": 734, "id": "reasoning-language-00014", "text": "Right hand: place_release: Right hand lowers the yellow mallet onto the black mat until the mallet rests stably on the surface, fingers opening to release the mallet handle."}, {"label": "subtasks", "start_step": 735, "end_step": 794, "id": "reasoning-language-00015", "text": "Right hand: retreat: Right hand, now empty, moves upward and rightward away from the placed mallet until it exits the visible frame area."}], "episode_index": 287} +{"source_uid": "09f17e944e651670", "num_frames": 824, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table.", "tags": {"task_name": "Hammer Nails", "task_instruction": "Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table.", "scene_description": "A hammer and two nails are placed on the table. 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"/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData/Hammer_Nails_v2/season_POC22048_2026_05_22_10_21_37_train/POC22048_2026_05_22_17_27_42_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/hammer_nails/season_POC22048_2026_05_22_10_21_37_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 197, "v40_language_source": "previous_published_lerobot", "episode_index": 288} +{"source_uid": "4c7690d19b642a42", "num_frames": 866, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Hammer_Nails_v2", "tags": {"task_name": "Hammer_Nails_v2", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "B", "SOP": ""}, "segments": [{"label": "valid", "start_step": 0, "end_step": 717, "id": "WE_SwjiIg5AXaA7BKJk0o"}, {"label": "subtasks", "start_step": 75, "end_step": 141, "id": "reasoning-language-00001", "text": "Right hand: reach: Right hand moves downward from the upper right area toward the wooden handle of the yellow-headed mallet, with fingers slightly spread, making no contact with the mallet during this movement."}, {"label": "subtasks", "start_step": 142, "end_step": 224, "id": "reasoning-language-00002", "text": "Right hand: grasp: Right hand closes fingers around the wooden handle of the yellow-headed mallet, making small finger and wrist adjustments to form a stable grip while the mallet remains resting on the black fabric surface."}, {"label": "subtasks", "start_step": 225, "end_step": 261, "id": "reasoning-language-00003", "text": "Right hand: lift: Right hand lifts the grasped yellow-headed mallet upward, gradually raising the mallet until it is fully separated from the black fabric support surface."}, {"label": "subtasks", "start_step": 262, "end_step": 337, "id": "reasoning-language-00004", "text": "Right hand: transport: Right hand carries the fully lifted yellow-headed mallet leftward across the black 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{"label": "subtasks", "start_step": 458, "end_step": 501, "id": "reasoning-language-00008", "text": "Right hand: lift_transport: Right hand grips the mallet handle, lifts the yellow mallet head off the red peg, transports the mallet upward and slightly rightward to the position above the center hole of the pegboard."}, {"label": "subtasks", "start_step": 502, "end_step": 614, "id": "reasoning-language-00009", "text": "Right hand: transport: Right hand holds the mallet handle, moves the mallet vertically downward toward the center hole on the pegboard, keeping the yellow mallet head aligned with the hole."}, {"label": "subtasks", "start_step": 615, "end_step": 637, "id": "reasoning-language-00010", "text": "Right hand: lift: Right hand grips the wooden mallet handle and lifts the mallet upward, fully separating the yellow mallet head from the wooden platform and the yellow peg on it."}, {"label": "subtasks", "start_step": 638, "end_step": 674, "id": "reasoning-language-00011", "text": "Right hand: transport: Right hand holds the mallet and moves it rightward through the air to the area above the right section of the black work surface."}, {"label": "subtasks", "start_step": 675, "end_step": 697, "id": "reasoning-language-00012", "text": "Right hand: place_release: Right hand lowers the mallet until its yellow head and wooden handle rest on the black work surface, opening its fingers to release grip on the mallet handle."}, {"label": "subtasks", "start_step": 698, "end_step": 749, "id": "reasoning-language-00013", "text": "Right hand: retreat: Right hand moves empty upward and rightward away from the mallet resting on the work surface."}, {"label": "home", "start_step": 718, "end_step": 865, "id": "sg_okiyRvYHa0_di1BJkb"}], "language_segments": [{"label": "subtasks", "start_step": 75, "end_step": 141, "id": "reasoning-language-00001", "text": "Right hand: reach: Right hand moves downward from the upper right area toward the wooden handle of the yellow-headed mallet, with fingers slightly spread, making no contact with the mallet during this movement."}, {"label": "subtasks", "start_step": 142, "end_step": 224, "id": "reasoning-language-00002", "text": "Right hand: grasp: Right hand closes fingers around the wooden handle of the yellow-headed mallet, making small finger and wrist adjustments to form a stable grip while the mallet remains resting on the black fabric surface."}, {"label": "subtasks", "start_step": 225, "end_step": 261, "id": "reasoning-language-00003", "text": "Right hand: lift: Right hand lifts the grasped yellow-headed mallet upward, gradually raising the mallet until it is fully separated from the black fabric support surface."}, {"label": "subtasks", "start_step": 262, "end_step": 337, "id": "reasoning-language-00004", "text": "Right hand: transport: Right hand carries the fully lifted yellow-headed mallet leftward across the black surface, moving the mallet to a position directly above the red peg on the wooden peg toy without touching the peg."}, {"label": "subtasks", "start_step": 338, "end_step": 374, "id": "reasoning-language-00005", "text": "Right hand: press: Right hand moves the yellow-headed mallet vertically downward, pressing the mallet head against the top surface of the red peg to apply downward pressure."}, {"label": "subtasks", "start_step": 375, "end_step": 427, "id": "reasoning-language-00006", "text": "Right hand: grasp: Right hand adjusts its grip on the wooden mallet handle with slight finger movements, slightly rotates the wrist to align the yellow mallet head with the red peg on the pegboard."}, {"label": "subtasks", "start_step": 428, "end_step": 457, "id": "reasoning-language-00007", "text": "Right hand: press: Right hand moves vertically downward, pressing the yellow mallet head against the red peg to apply downward pressure, pushing the red peg to protrude from the pegboard surface."}, {"label": "subtasks", "start_step": 458, "end_step": 501, "id": "reasoning-language-00008", "text": "Right hand: lift_transport: Right hand grips the mallet handle, lifts the yellow mallet head off the red peg, transports the mallet upward and slightly rightward to the position above the center hole of the pegboard."}, {"label": "subtasks", "start_step": 502, "end_step": 614, "id": "reasoning-language-00009", "text": "Right hand: transport: Right hand holds the mallet handle, moves the mallet vertically downward toward the center hole on the pegboard, keeping the yellow mallet head aligned with the hole."}, {"label": "subtasks", "start_step": 615, "end_step": 637, "id": "reasoning-language-00010", "text": "Right hand: lift: Right hand grips the wooden mallet handle and lifts the mallet upward, fully separating the yellow mallet head from the wooden platform and the yellow peg on it."}, {"label": "subtasks", "start_step": 638, "end_step": 674, "id": "reasoning-language-00011", "text": "Right hand: transport: Right hand holds the mallet and moves it rightward through the air to the area above the right section of the black work surface."}, {"label": "subtasks", "start_step": 675, "end_step": 697, "id": "reasoning-language-00012", "text": "Right hand: place_release: Right hand lowers the mallet until its yellow head and wooden handle rest on the black work surface, opening its fingers to release grip on the mallet handle."}, {"label": "subtasks", "start_step": 698, "end_step": 749, "id": "reasoning-language-00013", "text": "Right hand: retreat: Right hand moves empty upward and rightward away from the mallet resting on the work surface."}], "episode_index": 289} +{"source_uid": "026c092f7b27bb04", "num_frames": 829, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table.", "tags": {"task_name": "Hammer Nails", "task_instruction": "Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table.", "scene_description": "A hammer and two nails are placed on the table. 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"/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData/Hammer_Nails_v2/season_POC22048_2026_05_22_10_21_37_train/POC22048_2026_05_22_19_12_49_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/hammer_nails/season_POC22048_2026_05_22_10_21_37_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 228, "v40_language_source": "previous_published_lerobot", "episode_index": 322} +{"source_uid": "a8ba01f9f5cb1f98", "num_frames": 899, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Hammer_Nails_v2", "tags": {"task_name": "Hammer_Nails_v2", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "B", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 97, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the far left edge of the frame or out of view, with no observable movement or object interaction. | Right hand: idle: Right hand remains empty just out of view or at the top-right edge of the frame, with no observable movement."}, {"label": "valid", "start_step": 0, "end_step": 749, "id": "sHXL782whu40qw0FEnq3r"}, {"label": "subtasks", "start_step": 98, "end_step": 141, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the far left edge of the frame or out of view, with no observable movement or object interaction. | Right hand: reach: Right hand moves down and left from the top-right edge toward the wooden handle of the yellow hammer, with fingers slightly open and no contact with any object."}, {"label": "subtasks", "start_step": 142, "end_step": 247, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the far left edge of the frame or out of view, with no observable movement or object interaction. | Right hand: grasp: Right hand makes contact with the wooden handle of the 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{"label": "subtasks", "start_step": 375, "end_step": 479, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the far left edge of the frame or out of view, with no observable movement or object interaction. | Right hand: grasp: Right hand makes slight finger and wrist adjustments to stabilize its grip on the hammer handle while positioning the hammer above the central wooden peg toy."}, {"label": "subtasks", "start_step": 480, "end_step": 531, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the far left edge of the frame or out of view, with no observable movement or object interaction. | Right hand: grasp: Right hand adjusts finger positions on the light wooden hammer handle to establish a stable grip on the hammer."}, {"label": "subtasks", "start_step": 532, "end_step": 599, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the far left edge of the frame or out of view, with no observable movement or object interaction. | Right hand: press: Right hand holds the hammer steadily and applies downward vertical pressure, pushing the yellow hammer head against the red peg on the perforated wooden platform until the peg is pressed down."}, {"label": "subtasks", "start_step": 600, "end_step": 621, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the far left edge of the frame or out of view, with no observable movement or object interaction. | Right hand: hold: Right hand holds the hammer stationary with the yellow hammer head resting on the pressed peg, with no visible movement of the hand or hammer."}, {"label": "subtasks", "start_step": 622, "end_step": 644, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the far left edge of the frame or out of view, with no observable movement or object interaction. | Right hand: lift: Right hand moves upward while gripping the hammer handle, lifting the yellow hammer head completely away from the surface of the perforated wooden platform."}, {"label": "subtasks", "start_step": 645, "end_step": 719, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the far left edge of the frame or out of view, with no observable movement or object interaction. | Right hand: lift_transport: Right hand grips the wooden hammer, lifts it off the wooden peg board and moves it rightward to the area above the black work surface."}, {"label": "subtasks", "start_step": 720, "end_step": 734, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the far left edge of the frame or out of view, with no observable movement or object interaction. | Right hand: place_release: Right hand lowers the wooden hammer onto the black work surface, releases its grip on the wooden handle and separates from the hammer."}, {"label": "subtasks", "start_step": 735, "end_step": 749, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the far left edge of the frame or out of view, with no observable movement or object interaction. | Right hand: retreat: Right hand moves empty in an upward-right direction away from the placed hammer."}, {"label": "subtasks", "start_step": 750, "end_step": 898, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the far left edge of the frame or out of view, with no observable movement or object interaction."}, {"label": "home", "start_step": 750, "end_step": 898, "id": "W3ljbed2viuF-J2tuOfFU"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 97, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the far left edge of the frame or out of view, with no observable movement or object interaction. | Right hand: idle: Right hand remains empty just out of view or at the top-right edge of the frame, with no observable movement."}, {"label": "subtasks", "start_step": 98, "end_step": 141, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the far left edge of the frame or out of view, with no observable movement or object interaction. | Right hand: reach: Right hand moves down and left from the top-right edge toward the wooden handle of the yellow hammer, with fingers slightly open and no contact with any object."}, {"label": "subtasks", "start_step": 142, "end_step": 247, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the far left edge of the frame or out of view, with no observable movement or object interaction. | Right hand: grasp: Right hand makes contact with the wooden handle of the yellow hammer, adjusts finger positions, and closes fingers around the handle to form a stable grip while the hammer stays on the work surface."}, {"label": "subtasks", "start_step": 248, "end_step": 284, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the far left edge of the frame or out of view, with no observable movement or object interaction. | Right hand: hold: Right hand holds the wooden handle of the yellow hammer steadily, with no observable movement of the hand, fingers, or hammer while the hammer rests on the black work surface."}, {"label": "subtasks", "start_step": 285, "end_step": 374, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the far left edge of the frame or out of view, with no observable movement or object interaction. | Right hand: transport: Right hand grips the wooden-handled yellow hammer and transports it leftward across the black mat toward the central wooden peg toy."}, {"label": "subtasks", "start_step": 375, "end_step": 479, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the far left edge of the frame or out of view, with no observable movement or object interaction. | Right hand: grasp: Right hand makes slight finger and wrist adjustments to stabilize its grip on the hammer handle while positioning the hammer above the central wooden peg toy."}, {"label": "subtasks", "start_step": 480, "end_step": 531, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the far left edge of the frame or out of view, with no observable movement or object interaction. | Right hand: grasp: Right hand adjusts finger positions on the light wooden hammer handle to establish a stable grip on the hammer."}, {"label": "subtasks", "start_step": 532, "end_step": 599, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the far left edge of the frame or out of view, with no observable movement or object interaction. | Right hand: press: Right hand holds the hammer steadily and applies downward vertical pressure, pushing the yellow hammer head against the red peg on the perforated wooden platform until the peg is pressed down."}, {"label": "subtasks", "start_step": 600, "end_step": 621, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the far left edge of the frame or out of view, with no observable movement or object interaction. | Right hand: hold: Right hand holds the hammer stationary with the yellow hammer head resting on the pressed peg, with no visible movement of the hand or hammer."}, {"label": "subtasks", "start_step": 622, "end_step": 644, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the far left edge of the frame or out of view, with no observable movement or object interaction. | Right hand: lift: Right hand moves upward while gripping the hammer handle, lifting the yellow hammer head completely away from the surface of the perforated wooden platform."}, {"label": "subtasks", "start_step": 645, "end_step": 719, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the far left edge of the frame or out of view, with no observable movement or object interaction. | Right hand: lift_transport: Right hand grips the wooden hammer, lifts it off the wooden peg board and moves it rightward to the area above the black work surface."}, {"label": "subtasks", "start_step": 720, "end_step": 734, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the far left edge of the frame or out of view, with no observable movement or object interaction. | Right hand: place_release: Right hand lowers the wooden hammer onto the black work surface, releases its grip on the wooden handle and separates from the hammer."}, {"label": "subtasks", "start_step": 735, "end_step": 749, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the far left edge of the frame or out of view, with no observable movement or object interaction. | Right hand: retreat: Right hand moves empty in an upward-right direction away from 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Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table.", "tags": {"task_name": "Hammer Nails", "task_instruction": "Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table.", "scene_description": "A hammer and two nails are placed on the table. 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Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table.", "tags": {"task_name": "Hammer Nails", "task_instruction": "Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table.", "scene_description": "A hammer and two nails are placed on the table. 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Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table.", "tags": {"task_name": "Hammer Nails", "task_instruction": "Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table.", "scene_description": "A hammer and two nails are placed on the table. 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"/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData/Hammer_Nails_v2/season_POC22048_2026_05_22_10_21_37_train/POC22048_2026_05_22_19_16_39_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/hammer_nails/season_POC22048_2026_05_22_10_21_37_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 232, "v40_language_source": "previous_published_lerobot", "episode_index": 326} +{"source_uid": "853c4d975f499314", "num_frames": 898, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Hammer_Nails_v2", "tags": {"task_name": "Hammer_Nails_v2", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "B", "SOP": ""}, "segments": [{"label": "valid", "start_step": 0, "end_step": 748, "id": "bk9lrUIFVF6kuG6IBzcEW"}, {"label": "subtasks", "start_step": 75, "end_step": 149, "id": "reasoning-language-00001", "text": "Right hand: reach: Right hand moves down and left from the top-right edge of the frame with an open hand, approaching the wooden handle of the yellow mallet placed on the black mat."}, {"label": "subtasks", "start_step": 150, "end_step": 269, "id": "reasoning-language-00002", "text": "Right hand: grasp: Right hand closes fingers around the wooden handle of the yellow mallet, adjusting finger and wrist positions slightly to form a stable grasp, with the mallet remaining resting on the black mat."}, {"label": "subtasks", "start_step": 270, "end_step": 284, "id": "reasoning-language-00003", "text": "Right hand: lift: Right hand lifts the stably grasped yellow mallet upward, raising the entire mallet completely off the black supporting mat."}, {"label": "subtasks", "start_step": 285, "end_step": 404, "id": "reasoning-language-00004", "text": "Right hand: transport: Right hand carries the grasped yellow mallet leftward through the air, rotating the mallet about a quarter turn to point the yellow hammerhead straight downward, moving the mallet to a position directly above the red peg on the central wooden platform."}, {"label": "subtasks", "start_step": 480, "end_step": 501, "id": "reasoning-language-00005", "text": "Right hand: lift: Right hand holds the wooden-handled hammer, lifts the hammer upward until the bottom end of the wooden handle completely leaves the black supporting surface."}, {"label": "subtasks", "start_step": 502, "end_step": 547, "id": "reasoning-language-00006", "text": "Right hand: transport: Right hand carries the lifted hammer to move slightly downward and leftward in the air, adjusting the hammer's position above the wooden block."}, {"label": "subtasks", "start_step": 548, "end_step": 577, "id": "reasoning-language-00007", "text": "Right hand: press: Right hand moves the held hammer vertically downward, applying steady downward pressure with the yellow hammer head against the peg on the wooden block."}, {"label": "subtasks", "start_step": 578, "end_step": 644, "id": "reasoning-language-00008", "text": "Right hand: hold: Right hand holds the wooden-handled hammer stationary, keeping the hammer in contact with the peg on the wooden block with no visible movement."}, {"label": "subtasks", "start_step": 645, "end_step": 674, "id": "reasoning-language-00009", "text": "Right hand: lift: Right hand grips the wooden hammer handle and lifts the hammer upward, fully separating it from the wooden peg board base by the end of the segment."}, {"label": "subtasks", "start_step": 675, "end_step": 704, "id": "reasoning-language-00010", "text": "Right hand: transport: Right hand carries the lifted wooden hammer and moves it horizontally rightward across the black work surface."}, {"label": "subtasks", "start_step": 705, "end_step": 719, "id": "reasoning-language-00011", "text": "Right hand: place: Right hand lowers the wooden hammer downward until the hammer rests steadily on the right area of the black work surface, still holding the handle."}, {"label": "subtasks", "start_step": 720, "end_step": 734, "id": "reasoning-language-00012", "text": "Right hand: release: Right hand opens its fingers to release the grip on the wooden hammer handle, separating from the hammer by the end of the segment."}, {"label": "subtasks", "start_step": 735, "end_step": 749, "id": "reasoning-language-00013", "text": "Right hand: retreat: Right hand moves empty in an upward-right direction away from the placed wooden hammer."}, {"label": "home", "start_step": 749, "end_step": 897, "id": "1lWRobCCGiTiiLMP2mjmN"}], "language_segments": [{"label": "subtasks", "start_step": 75, "end_step": 149, "id": "reasoning-language-00001", "text": "Right hand: reach: Right hand moves down and left from the top-right edge of the frame with an open hand, approaching the wooden handle of the yellow mallet placed on the black mat."}, {"label": "subtasks", "start_step": 150, "end_step": 269, "id": "reasoning-language-00002", "text": "Right hand: grasp: Right hand closes fingers around the wooden handle of the yellow mallet, adjusting finger and wrist positions slightly to form a stable grasp, with the mallet remaining resting on the black mat."}, {"label": "subtasks", "start_step": 270, "end_step": 284, "id": "reasoning-language-00003", "text": "Right hand: lift: Right hand lifts the stably grasped yellow mallet upward, raising the entire mallet completely off the black supporting mat."}, {"label": "subtasks", "start_step": 285, "end_step": 404, "id": "reasoning-language-00004", "text": "Right hand: transport: Right hand carries the grasped yellow mallet leftward through the air, rotating the mallet about a quarter turn to point the yellow hammerhead straight downward, moving the mallet to a position directly above the red peg on the central wooden platform."}, {"label": "subtasks", "start_step": 480, "end_step": 501, "id": "reasoning-language-00005", "text": "Right hand: lift: Right hand holds the wooden-handled hammer, lifts the hammer upward until the bottom end of the wooden handle completely leaves the black supporting surface."}, {"label": "subtasks", "start_step": 502, "end_step": 547, "id": "reasoning-language-00006", "text": "Right hand: transport: Right hand carries the lifted hammer to move slightly downward and leftward in the air, adjusting the hammer's position above the wooden block."}, {"label": "subtasks", "start_step": 548, "end_step": 577, "id": "reasoning-language-00007", "text": "Right hand: press: Right hand moves the held hammer vertically downward, applying steady downward pressure with the yellow hammer head against the peg on the wooden block."}, {"label": "subtasks", "start_step": 578, "end_step": 644, "id": "reasoning-language-00008", "text": "Right hand: hold: Right hand holds the wooden-handled hammer stationary, keeping the hammer in contact with the peg on the wooden block with no visible movement."}, {"label": "subtasks", "start_step": 645, "end_step": 674, "id": "reasoning-language-00009", "text": "Right hand: lift: Right hand grips the wooden hammer handle and lifts the hammer upward, fully separating it from the wooden peg board base by the end of the segment."}, {"label": "subtasks", "start_step": 675, "end_step": 704, "id": "reasoning-language-00010", "text": "Right hand: transport: Right hand carries the lifted wooden hammer and moves it horizontally rightward across the black work surface."}, {"label": "subtasks", "start_step": 705, "end_step": 719, "id": "reasoning-language-00011", "text": "Right hand: place: Right hand lowers the wooden hammer downward until the hammer rests steadily on the right area of the black work surface, still holding the handle."}, {"label": "subtasks", "start_step": 720, "end_step": 734, "id": "reasoning-language-00012", "text": "Right hand: release: Right hand opens its fingers to release the grip on the wooden hammer handle, separating from the hammer by the end of the segment."}, {"label": "subtasks", "start_step": 735, "end_step": 749, "id": "reasoning-language-00013", "text": "Right hand: retreat: Right hand moves empty in an upward-right direction away from the placed wooden hammer."}], "episode_index": 327} +{"source_uid": "b18945aba6d0697a", "num_frames": 900, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table.", "tags": {"task_name": "Hammer Nails", "task_instruction": "Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table.", "scene_description": "A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back.", "success_criteria": "Both nails are hammered down securely, and the hammer is placed back stably on the table.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 245, "id": "subtask-001", "text": "Pick up the hammer from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 246, "end_step": 450, "id": "subtask-002", "text": "Hammer down the first nail with the right hand. | Skill: press", "task_skill": "press", "atomic_action": []}, {"label": "subtasks", "start_step": 451, "end_step": 630, "id": "subtask-003", "text": "Hammer down the second nail with the right hand. | Skill: press", "task_skill": "press", "atomic_action": []}, {"label": "subtasks", "start_step": 631, "end_step": 740, "id": "subtask-004", "text": "Place the hammer back on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 245, "id": "subtask-001", "text": "Pick up the hammer from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 246, "end_step": 450, "id": "subtask-002", "text": "Hammer down the first nail with the right hand. | Skill: press", "task_skill": "press", "atomic_action": []}, {"label": "subtasks", "start_step": 451, "end_step": 630, "id": "subtask-003", "text": "Hammer down the second nail with the right hand. | Skill: press", "task_skill": "press", "atomic_action": []}, {"label": "subtasks", "start_step": 631, "end_step": 740, "id": "subtask-004", "text": "Place the hammer back on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData/Hammer_Nails_v2/season_POC22048_2026_05_22_10_21_37_train/POC22048_2026_05_22_19_19_57_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/hammer_nails/season_POC22048_2026_05_22_10_21_37_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 233, "v40_language_source": "previous_published_lerobot", "episode_index": 328} +{"source_uid": "291d0689c034ca8f", "num_frames": 927, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table.", "tags": {"task_name": "Hammer Nails", "task_instruction": "Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table.", "scene_description": "A hammer and two nails are placed on the table. 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Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table.", "tags": {"task_name": "Hammer Nails", "task_instruction": "Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table.", "scene_description": "A hammer and two nails are placed on the table. 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fingers are visible at the left frame edge in early frames before the hand moves out of active view. | Right hand: idle: Right hand remains empty and out of the main visible frame area with no observable movement before beginning to approach the mallet."}, {"label": "valid", "start_step": 0, "end_step": 914, "id": "PCyqWzWl-9uWMshugVb5H"}, {"label": "subtasks", "start_step": 60, "end_step": 127, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty throughout the segment, with no observable continuous movement; stationary fingers are visible at the left frame edge in early frames before the hand moves out of active view. | Right hand: reach: Right hand moves downward diagonally from the top-right frame edge toward the wooden handle of the yellow mallet, held with fingers slightly open while approaching the target."}, {"label": "subtasks", "start_step": 128, "end_step": 284, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty throughout the segment, with no observable continuous movement; stationary fingers are visible at the left frame edge in early frames before the hand moves out of active view. | Right hand: grasp: Right hand makes contact with the wooden handle of the yellow mallet, closes fingers around the handle, and performs small adjustments to finger and wrist position to establish a stable grip, with the mallet head remaining on the work surface."}, {"label": "subtasks", "start_step": 285, "end_step": 367, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty throughout the segment, with no observable continuous movement; stationary fingers are visible at the left frame edge in early frames before the hand moves out of active view. | Right hand: lift_transport: Right hand grips the wooden handle of the yellow mallet, lifts the mallet completely off the black supporting surface, and transports it leftward through the air toward the wooden peg platform."}, {"label": "subtasks", "start_step": 368, "end_step": 389, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty throughout the segment, with no observable continuous movement; stationary fingers are visible at the left frame edge in early frames before the hand moves out of active view. | Right hand: place: Right hand lowers the yellow mallet, setting the yellow mallet head on the top surface of the wooden peg platform and the distal end of the wooden handle on the black supporting surface."}, {"label": "subtasks", "start_step": 390, "end_step": 479, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty throughout the segment, with no observable continuous movement; stationary fingers are visible at the left frame edge in early frames before the hand moves out of active view. | Right hand: grasp: Right hand makes small adjustments to finger positions on the wooden handle and slight repositioning movements of the wrist to stabilize the grip on the yellow mallet."}, {"label": "subtasks", "start_step": 480, "end_step": 539, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty throughout the segment, with no observable continuous movement; stationary fingers are visible at the left frame edge in early frames before the hand moves out of active view. | Right hand: hold: Right hand holds the stably positioned yellow mallet without any observable movement of the hand, fingers, wrist or the mallet."}, {"label": "subtasks", "start_step": 540, "end_step": 637, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty throughout the segment, with no observable continuous movement; stationary fingers are visible at the left frame edge in early frames before the hand moves out of active view. | Right hand: press: Right hand adjusts finger positions on the wooden mallet handle, moves the mallet to apply downward pressure on the yellow peg on the wooden pegboard."}, {"label": "subtasks", "start_step": 638, "end_step": 824, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty throughout the segment, with no observable continuous movement; stationary fingers are visible at the left frame edge in early frames before the hand moves out of active view. | Right hand: hold: Right hand holds the wooden mallet in position against the yellow peg on the wooden pegboard without observable movement."}, {"label": "subtasks", "start_step": 825, "end_step": 839, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty throughout the segment, with no observable continuous movement; stationary fingers are visible at the left frame edge in early frames before the hand moves out of active view. | Right hand: lift: Right hand holds the wooden mallet with a yellow cylindrical head, lifting it upward to fully separate it from the light brown wooden peg toy below."}, {"label": "subtasks", "start_step": 840, "end_step": 884, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty throughout the segment, with no observable continuous movement; stationary fingers are visible at the left frame edge in early frames before the hand moves out of active view. | Right hand: transport: Right hand carries the grasped mallet rightward through the air, rotating it roughly 90 degrees clockwise to a horizontal orientation as it approaches the black mat surface to the right of the peg toy."}, {"label": "subtasks", "start_step": 885, "end_step": 899, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty throughout the segment, with no observable continuous movement; stationary fingers are visible at the left frame edge in early frames before the hand moves out of active view. | Right hand: place: Right hand lowers the horizontal mallet down to the black mat, resting the yellow mallet head stably on the mat surface while maintaining grip on the wooden handle."}, {"label": "subtasks", "start_step": 900, "end_step": 914, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty throughout the segment, with no observable continuous movement; stationary fingers are visible at the left frame edge in early frames before the hand moves out of active view. | Right hand: release: Right hand opens its metal fingers to release the mallet handle, separating from the mallet which remains resting on the black mat."}, {"label": "subtasks", "start_step": 915, "end_step": 1063, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty throughout the segment, with no observable continuous movement; stationary fingers are visible at the left frame edge in early frames before the hand moves out of active view."}, {"label": "home", "start_step": 915, "end_step": 1063, "id": "JsvbE-yLG3PzsuPajhbu5"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 59, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty throughout the segment, with no observable continuous movement; stationary fingers are visible at the left frame edge in early frames before the hand moves out of active view. | Right hand: idle: Right hand remains empty and out of the main visible frame area with no observable movement before beginning to approach the mallet."}, {"label": "subtasks", "start_step": 60, "end_step": 127, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty throughout the segment, with no observable continuous movement; stationary fingers are visible at the left frame edge in early frames before the hand moves out of active view. | Right hand: reach: Right hand moves downward diagonally from the top-right frame edge toward the wooden handle of the yellow mallet, held with fingers slightly open while approaching the target."}, {"label": "subtasks", "start_step": 128, "end_step": 284, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty throughout the segment, with no observable continuous movement; stationary fingers are visible at the left frame edge in early frames before the hand moves out of active view. | Right hand: grasp: Right hand makes contact with the wooden handle of the yellow mallet, closes fingers around the handle, and performs small adjustments to finger and wrist position to establish a stable grip, with the mallet head remaining on the work surface."}, {"label": "subtasks", "start_step": 285, "end_step": 367, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty throughout the segment, with no observable continuous movement; stationary fingers are visible at the left frame edge in early frames before the hand moves out of active view. | Right hand: lift_transport: Right hand grips the wooden handle of the yellow mallet, lifts the mallet completely off the black supporting surface, and transports it leftward through the air toward the wooden peg platform."}, {"label": "subtasks", "start_step": 368, "end_step": 389, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty throughout the segment, with no observable continuous movement; stationary fingers are visible at the left frame edge in early frames before the hand moves out of active view. | Right hand: place: Right hand lowers the yellow mallet, setting the yellow mallet head on the top surface of the wooden peg platform and the distal end of the wooden handle on the black supporting surface."}, {"label": "subtasks", "start_step": 390, "end_step": 479, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty throughout the segment, with no observable continuous movement; stationary fingers are visible at the left frame edge in early frames before the hand moves out of active view. | Right hand: grasp: Right hand makes small adjustments to finger positions on the wooden handle and slight repositioning movements of the wrist to stabilize the grip on the yellow mallet."}, {"label": "subtasks", "start_step": 480, "end_step": 539, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty throughout the segment, with no observable continuous movement; stationary fingers are visible at the left frame edge in early frames before the hand moves out of active view. | Right hand: hold: Right hand holds the stably positioned yellow mallet without any observable movement of the hand, fingers, wrist or the mallet."}, {"label": "subtasks", "start_step": 540, "end_step": 637, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty throughout the segment, with no observable continuous movement; stationary fingers are visible at the left frame edge in early frames before the hand moves out of active view. | Right hand: press: Right hand adjusts finger positions on the wooden mallet handle, moves the mallet to apply downward pressure on the yellow peg on the wooden pegboard."}, {"label": "subtasks", "start_step": 638, "end_step": 824, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty throughout the segment, with no observable continuous movement; stationary fingers are visible at the left frame edge in early frames before the hand moves out of active view. | Right hand: hold: Right hand holds the wooden mallet in position against the yellow peg on the wooden pegboard without observable movement."}, {"label": "subtasks", "start_step": 825, "end_step": 839, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty throughout the segment, with no observable continuous movement; stationary fingers are visible at the left frame edge in early frames before the hand moves out of active view. | Right hand: lift: Right hand holds the wooden mallet with a yellow cylindrical head, lifting it upward to fully separate it from the light brown wooden peg toy below."}, {"label": "subtasks", "start_step": 840, "end_step": 884, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty throughout the segment, with no observable continuous movement; stationary fingers are visible at the left frame edge in early frames before the hand moves out of active view. | Right hand: transport: Right hand carries the grasped mallet rightward through the air, rotating it roughly 90 degrees clockwise to a horizontal orientation as it approaches the black mat surface to the right of the peg toy."}, {"label": "subtasks", "start_step": 885, "end_step": 899, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty throughout the segment, with no observable continuous movement; stationary fingers are visible at the left frame edge in early frames before the hand moves out of active view. | Right hand: place: Right hand lowers the horizontal mallet down to the black mat, resting the yellow mallet head stably on the mat surface while maintaining grip on the wooden handle."}, {"label": "subtasks", "start_step": 900, "end_step": 914, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty throughout the segment, with no observable continuous movement; stationary fingers are visible at the left frame edge in early frames before the hand moves out of active view. | Right hand: release: Right hand opens its metal fingers to release the mallet handle, separating from the mallet which remains resting on the black mat."}, {"label": "subtasks", "start_step": 915, "end_step": 1063, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty throughout the segment, with no observable continuous movement; stationary fingers are visible at the left frame edge in early frames before the hand moves out of active view."}], "episode_index": 332} +{"source_uid": "8b88d7992b72f4be", "num_frames": 929, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Hammer_Nails_v2", "tags": {"task_name": "Hammer_Nails_v2", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "B", "SOP": ""}, "segments": [{"label": "valid", "start_step": 0, "end_step": 779, "id": "mya0JoqQM9gPf5wWyH5Un"}, {"label": "subtasks", "start_step": 15, "end_step": 149, "id": "reasoning-language-00001", "text": "Right hand: reach: Right hand moves empty from the top right of the frame down left toward the yellow hammer on the black mat."}, {"label": "subtasks", "start_step": 150, "end_step": 224, "id": "reasoning-language-00002", "text": "Right hand: grasp: Right hand closes its fingers around the wooden handle of the yellow hammer to establish a stable grasp, with the hammer remaining on the black mat."}, {"label": "subtasks", "start_step": 225, "end_step": 254, "id": "reasoning-language-00003", "text": "Right hand: grasp: Right hand adjusts its fingers to form a stable grasp on the wooden handle of the yellow hammer placed on the black mat."}, {"label": "subtasks", "start_step": 255, "end_step": 277, "id": "reasoning-language-00004", "text": "Right hand: lift: Right hand lifts the yellow hammer upward until it completely leaves the black supporting mat."}, {"label": "subtasks", "start_step": 278, "end_step": 359, "id": "reasoning-language-00005", "text": "Right hand: transport: Right hand transports the yellow hammer leftward to the position above the green peg on the wooden toy."}, {"label": "subtasks", "start_step": 360, "end_step": 404, "id": "reasoning-language-00006", "text": "Right hand: hold: Right hand holds the yellow hammer stationary above the green peg on the wooden toy without any movement."}, {"label": "subtasks", "start_step": 405, "end_step": 441, "id": "reasoning-language-00007", "text": "Right hand: press: Right hand presses the yellow hammer downward to hit the red peg on the wooden toy."}, {"label": "subtasks", "start_step": 442, "end_step": 471, "id": "reasoning-language-00008", "text": "Right hand: transport: Right hand transports the yellow hammer upward to lift it away from the wooden toy surface."}, {"label": "subtasks", "start_step": 472, "end_step": 539, "id": "reasoning-language-00009", "text": "Right hand: press: Right hand presses the yellow hammer downward to hit the green peg on the wooden toy."}, {"label": "subtasks", "start_step": 540, "end_step": 577, "id": "reasoning-language-00010", "text": "Right hand: grasp: Right hand adjusts its grasp on the wooden hammer with yellow head."}, {"label": "subtasks", "start_step": 578, "end_step": 667, "id": "reasoning-language-00011", "text": "Right hand: transport: Right hand transports the wooden hammer with yellow head to the position above the red peg on the wooden toy."}, {"label": "subtasks", "start_step": 668, "end_step": 689, "id": "reasoning-language-00012", "text": "Right hand: press: Right hand presses the wooden hammer down to hit the red peg on the wooden toy."}, {"label": "subtasks", "start_step": 690, "end_step": 741, "id": "reasoning-language-00013", "text": "Right hand: transport: Right hand transports the wooden hammer with yellow head towards the right side of the wooden board."}, {"label": "subtasks", "start_step": 742, "end_step": 764, "id": "reasoning-language-00014", "text": "Right hand: place: Right hand places the hammer onto the black mat at the right side of the wooden board."}, {"label": "subtasks", "start_step": 765, "end_step": 779, "id": "reasoning-language-00015", "text": "Right hand: release: Right hand opens fingers to release the hammer handle and separates from the hammer."}, {"label": "subtasks", "start_step": 780, "end_step": 809, "id": "reasoning-language-00016", "text": "Right hand: retreat: Right hand moves toward the top right direction and exits the visible frame."}, {"label": "home", "start_step": 780, "end_step": 928, "id": "MXsOejT5COBJKjVp-tSAF"}], "language_segments": [{"label": "subtasks", "start_step": 15, "end_step": 149, "id": "reasoning-language-00001", "text": "Right hand: reach: Right hand moves empty from the top right of the frame down left toward the yellow hammer on the black mat."}, {"label": "subtasks", "start_step": 150, "end_step": 224, "id": "reasoning-language-00002", "text": "Right hand: grasp: Right hand closes its fingers around the wooden handle of the yellow hammer to establish a stable grasp, with the hammer remaining on the black mat."}, {"label": "subtasks", "start_step": 225, "end_step": 254, "id": "reasoning-language-00003", "text": "Right hand: grasp: Right hand adjusts its fingers to form a stable grasp on the wooden handle of the yellow hammer placed on the black mat."}, {"label": "subtasks", "start_step": 255, "end_step": 277, "id": "reasoning-language-00004", "text": "Right hand: lift: Right hand lifts the yellow hammer upward until it completely leaves the black supporting mat."}, {"label": "subtasks", "start_step": 278, "end_step": 359, "id": "reasoning-language-00005", "text": "Right hand: transport: Right hand transports the yellow hammer leftward to the position above the green peg on the wooden toy."}, {"label": "subtasks", "start_step": 360, "end_step": 404, "id": "reasoning-language-00006", "text": "Right hand: hold: Right hand holds the yellow hammer stationary above the green peg on the wooden toy without any movement."}, {"label": "subtasks", "start_step": 405, "end_step": 441, "id": "reasoning-language-00007", "text": "Right hand: press: Right hand presses the yellow hammer downward to hit the red peg on the wooden toy."}, {"label": "subtasks", "start_step": 442, "end_step": 471, "id": "reasoning-language-00008", "text": "Right hand: transport: Right hand transports the yellow hammer upward to lift it away from the wooden toy surface."}, {"label": "subtasks", "start_step": 472, "end_step": 539, "id": "reasoning-language-00009", "text": "Right hand: press: Right hand presses the yellow hammer downward to hit the green peg on the wooden toy."}, {"label": "subtasks", "start_step": 540, "end_step": 577, "id": "reasoning-language-00010", "text": "Right hand: grasp: Right hand adjusts its grasp on the wooden hammer with yellow head."}, {"label": "subtasks", "start_step": 578, "end_step": 667, "id": "reasoning-language-00011", "text": "Right hand: transport: Right hand transports the wooden hammer with yellow head to the position above the red peg on the wooden toy."}, {"label": "subtasks", "start_step": 668, "end_step": 689, "id": "reasoning-language-00012", "text": "Right hand: press: Right hand presses the wooden hammer down to hit the red peg on the wooden toy."}, {"label": "subtasks", "start_step": 690, "end_step": 741, "id": "reasoning-language-00013", "text": "Right hand: transport: Right hand transports the wooden hammer with yellow head towards the right side of the wooden board."}, {"label": "subtasks", "start_step": 742, "end_step": 764, "id": "reasoning-language-00014", "text": "Right hand: place: Right hand places the hammer onto the black mat at the right side of the wooden board."}, {"label": "subtasks", "start_step": 765, "end_step": 779, "id": "reasoning-language-00015", "text": "Right hand: release: Right hand opens fingers to release the hammer handle and separates from the hammer."}, {"label": "subtasks", "start_step": 780, "end_step": 809, "id": "reasoning-language-00016", "text": "Right hand: retreat: Right hand moves toward the top right direction and exits the visible frame."}], "episode_index": 333} +{"source_uid": "d78890cf94936213", "num_frames": 939, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Hammer_Nails_v2", "tags": {"task_name": "Hammer_Nails_v2", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "B", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 67, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without moving. | Right hand: idle: Right hand remains empty at the upper right edge of the frame without moving."}, {"label": "valid", "start_step": 0, "end_step": 790, "id": "o6r3Ps2AxYnQKXY2oOgcc"}, {"label": "subtasks", "start_step": 68, "end_step": 127, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without moving. | Right hand: reach: Right hand moves downward toward the wooden handle of the yellow-headed mallet on the right side of the black work surface, with fingers held slightly open."}, {"label": "subtasks", "start_step": 128, "end_step": 247, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without moving. | Right hand: grasp: Right hand closes fingers around the wooden handle of the mallet, making small contact adjustments to form a stable grip while the mallet remains supported by the work surface."}, {"label": "subtasks", "start_step": 248, "end_step": 269, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without moving. | Right hand: lift: Right hand holds the mallet handle and begins lifting the mallet upward from the work surface."}, {"label": "subtasks", "start_step": 270, "end_step": 307, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without moving. | Right hand: grasp: Right hand adjusts finger positions around the wooden handle of the yellow-headed mallet on the black mat, closing fingers to form a stable grip."}, {"label": "subtasks", "start_step": 308, "end_step": 321, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without moving. | Right hand: lift: Right hand lifts the stably grasped yellow-headed mallet upward, raising the wooden handle completely off the black supporting mat."}, {"label": "subtasks", "start_step": 322, "end_step": 367, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without moving. | Right hand: transport: Right hand transports the lifted yellow-headed mallet leftward through the air toward the central wooden pegboard with green posts."}, {"label": "subtasks", "start_step": 368, "end_step": 381, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without moving. | Right hand: place: Right hand lowers the yellow-headed mallet downward until the mallet is supported by the wooden pegboard."}, {"label": "subtasks", "start_step": 382, "end_step": 427, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without moving. | Right hand: hold: Right hand holds the yellow-headed mallet steady in position on the wooden pegboard without any visible movement of the hand or mallet."}, {"label": "subtasks", "start_step": 428, "end_step": 494, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without moving. | Right hand: grasp: Right hand adjusts finger contact positions on the wooden hammer handle and slightly rotates the wrist to reposition the hammer, making small grip adjustments to stabilize hold of the tool."}, {"label": "subtasks", "start_step": 495, "end_step": 674, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without moving."}, {"label": "subtasks", "start_step": 675, "end_step": 697, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without moving. | Right hand: lift: Right hand holds the wooden mallet and lifts it upward, completely detaching the mallet from the wooden pegboard support."}, {"label": "subtasks", "start_step": 698, "end_step": 734, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without moving. | Right hand: transport: Right hand carries the detached wooden mallet, moving it horizontally to the right toward the black work surface beside the pegboard."}, {"label": "subtasks", "start_step": 735, "end_step": 787, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without moving. | Right hand: place_release: Right hand lowers the wooden mallet onto the right black work surface until the mallet rests stably, opens fingers to release grip on the mallet, and separates the hand from the mallet."}, {"label": "subtasks", "start_step": 788, "end_step": 824, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without moving. | Right hand: retreat: Right hand moves upward and to the right, retreating empty away from the wooden mallet placed on the work surface."}, {"label": "home", "start_step": 791, "end_step": 938, "id": "oMT-TcIufubqzMWJDPhMc"}, {"label": "subtasks", "start_step": 825, "end_step": 938, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without moving."}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 67, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without moving. | Right hand: idle: Right hand remains empty at the upper right edge of the frame without moving."}, {"label": "subtasks", "start_step": 68, "end_step": 127, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without moving. | Right hand: reach: Right hand moves downward toward the wooden handle of the yellow-headed mallet on the right side of the black work surface, with fingers held slightly open."}, {"label": "subtasks", "start_step": 128, "end_step": 247, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without moving. | Right hand: grasp: Right hand closes fingers around the wooden handle of the mallet, making small contact adjustments to form a stable grip while the mallet remains supported by the work surface."}, {"label": "subtasks", "start_step": 248, "end_step": 269, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without moving. | Right hand: lift: Right hand holds the mallet handle and begins lifting the mallet upward from the work surface."}, {"label": "subtasks", "start_step": 270, "end_step": 307, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without moving. | Right hand: grasp: Right hand adjusts finger positions around the wooden handle of the yellow-headed mallet on the black mat, closing fingers to form a stable grip."}, {"label": "subtasks", "start_step": 308, "end_step": 321, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without moving. | Right hand: lift: Right hand lifts the stably grasped yellow-headed mallet upward, raising the wooden handle completely off the black supporting mat."}, {"label": "subtasks", "start_step": 322, "end_step": 367, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without moving. | Right hand: transport: Right hand transports the lifted yellow-headed mallet leftward through the air toward the central wooden pegboard with green posts."}, {"label": "subtasks", "start_step": 368, "end_step": 381, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without moving. | Right hand: place: Right hand lowers the yellow-headed mallet downward until the mallet is supported by the wooden pegboard."}, {"label": "subtasks", "start_step": 382, "end_step": 427, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without moving. | Right hand: hold: Right hand holds the yellow-headed mallet steady in position on the wooden pegboard without any visible movement of the hand or mallet."}, {"label": "subtasks", "start_step": 428, "end_step": 494, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without moving. | Right hand: grasp: Right hand adjusts finger contact positions on the wooden hammer handle and slightly rotates the wrist to reposition the hammer, making small grip adjustments to stabilize hold of the tool."}, {"label": "subtasks", "start_step": 495, "end_step": 674, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without moving."}, {"label": "subtasks", "start_step": 675, "end_step": 697, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without moving. | Right hand: lift: Right hand holds the wooden mallet and lifts it upward, completely detaching the mallet from the wooden pegboard support."}, {"label": "subtasks", "start_step": 698, "end_step": 734, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without moving. | Right hand: transport: Right hand carries the detached wooden mallet, moving it horizontally to the right toward the black work surface beside the pegboard."}, {"label": "subtasks", "start_step": 735, "end_step": 787, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without moving. | Right hand: place_release: Right hand lowers the wooden mallet onto the right black work surface until the mallet rests stably, opens fingers to release grip on the mallet, and separates the hand from the mallet."}, {"label": "subtasks", "start_step": 788, "end_step": 824, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without moving. | Right hand: retreat: Right hand moves upward and to the right, retreating empty away from the wooden mallet placed on the work surface."}, {"label": "subtasks", "start_step": 825, "end_step": 938, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without moving."}], "episode_index": 334} +{"source_uid": "740c9353248f29ec", "num_frames": 893, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table.", "tags": {"task_name": "Hammer Nails", "task_instruction": "Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table.", "scene_description": "A hammer and two nails are placed on the table. 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"text": "Right hand: transport: Right hand carries the yellow mallet and moves it upward and leftward to the position above the wooden pegboard."}, {"label": "subtasks", "start_step": 435, "end_step": 509, "id": "reasoning-language-00006", "text": "Right hand: grasp: Right hand adjusts its grasp on the wooden mallet with a yellow head, aligning the mallet head with the green peg on the perforated wooden board."}, {"label": "subtasks", "start_step": 510, "end_step": 577, "id": "reasoning-language-00007", "text": "Right hand: lift: Right hand lifts the yellow-headed mallet upward, moving the mallet head away from the green peg on the wooden board."}, {"label": "subtasks", "start_step": 578, "end_step": 644, "id": "reasoning-language-00008", "text": "Right hand: press: Right hand presses the yellow-headed mallet downward against the green peg, striking the peg into the hole of the wooden board."}, {"label": "subtasks", "start_step": 645, "end_step": 711, "id": "reasoning-language-00009", 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enters the frame from the top-right corner, moves downward toward the wooden handle of the yellow mallet on the black work surface, with fingers slightly extended while remaining empty."}, {"label": "subtasks", "start_step": 202, "end_step": 284, "id": "reasoning-language-00002", "text": "Right hand: grasp: Right hand makes contact with the wooden handle of the yellow mallet, gradually closes fingers around the handle and adjusts contact position to form a grip, while the mallet remains resting on the black work surface."}, {"label": "subtasks", "start_step": 285, "end_step": 314, "id": "reasoning-language-00003", "text": "Right hand: grasp: Right hand adjusts fingers around the wooden mallet handle on the black work surface to form a stable grasp."}, {"label": "subtasks", "start_step": 315, "end_step": 329, "id": "reasoning-language-00004", "text": "Right hand: lift: Right hand lifts the grasped wooden mallet upward, fully separating the mallet from the black supporting surface."}, {"label": "subtasks", "start_step": 330, "end_step": 419, "id": "reasoning-language-00005", "text": "Right hand: transport: Right hand moves the grasped wooden mallet leftward toward the wooden peg board, positioning the yellow mallet head over the red peg."}, {"label": "subtasks", "start_step": 420, "end_step": 449, "id": "reasoning-language-00006", "text": "Right hand: hold: Right hand holds the wooden mallet steady over the wooden peg board without visible movement or hand shape adjustment."}, {"label": "subtasks", "start_step": 450, "end_step": 524, "id": "reasoning-language-00007", "text": "Right hand: grasp: Right hand adjusts its fingers around the wooden mallet handle with slight finger movements to stabilize the grip."}, {"label": "subtasks", "start_step": 525, "end_step": 554, "id": "reasoning-language-00008", "text": "Right hand: hold: Right hand holds the wooden mallet steadily, with the mallet head resting on the wooden peg of the wooden toy base without movement."}, {"label": "subtasks", "start_step": 555, "end_step": 591, "id": "reasoning-language-00009", "text": "Right hand: lift_transport: Right hand lifts the wooden mallet off the wooden peg and transports it upward to the position directly above the peg."}, {"label": "subtasks", "start_step": 592, "end_step": 644, "id": "reasoning-language-00010", "text": "Right hand: reorient: Right hand slightly rotates the wrist to adjust the orientation of the wooden mallet, aligning the mallet head vertically over the wooden peg."}, {"label": "subtasks", "start_step": 645, "end_step": 697, "id": "reasoning-language-00011", "text": "Right hand: transport_press: Right hand moves the aligned wooden mallet vertically downward and presses the mallet head onto the wooden peg to apply downward striking force."}, {"label": "subtasks", "start_step": 698, "end_step": 719, "id": "reasoning-language-00012", "text": "Right hand: lift: Right hand lifts the wooden mallet upward again, moving the mallet head away from the wooden peg after the strike."}, {"label": "subtasks", "start_step": 720, "end_step": 764, "id": "reasoning-language-00013", "text": "Right hand: lift_transport: Right hand holds the wooden mallet, lifts it clear of the black work surface and the wooden peg toy, moving it to the right upper area of the work surface."}, {"label": "subtasks", "start_step": 765, "end_step": 787, "id": "reasoning-language-00014", "text": "Right hand: place_release: Right hand lowers the wooden mallet toward the black work surface, opening fingers to release the mallet so it rests flat on the surface."}, {"label": "subtasks", "start_step": 788, "end_step": 809, "id": "reasoning-language-00015", "text": "Right hand: retreat: Right hand moves upward away from the resting mallet, remaining empty with fingers slightly spread."}, {"label": "subtasks", "start_step": 810, "end_step": 854, "id": "reasoning-language-00016", "text": "Right hand: retreat: Right hand is empty and moves upward to retreat out of the frame through the top-right edge."}, {"label": "home", "start_step": 818, "end_step": 966, "id": "abQvn3MbTUQDnd6QgZIl7"}, {"label": "subtasks", "start_step": 960, "end_step": 966, "id": "reasoning-language-00017", "text": "Right hand: reach_grasp: Right hand moves from the right edge of the frame toward the yellow hammer, makes contact with the yellow hammer head, and closes fingers to grasp the hammer."}], "language_segments": [{"label": "subtasks", "start_step": 60, "end_step": 201, "id": "reasoning-language-00001", "text": "Right hand: reach: Right hand enters the frame from the top-right corner, moves downward toward the wooden handle of the yellow mallet on the black work surface, with fingers slightly extended while remaining empty."}, {"label": "subtasks", "start_step": 202, "end_step": 284, "id": "reasoning-language-00002", "text": "Right hand: grasp: Right hand makes contact with the wooden handle of the yellow mallet, gradually closes fingers around the handle and adjusts contact position to form a grip, while the mallet remains resting on the black work surface."}, {"label": "subtasks", "start_step": 285, "end_step": 314, "id": "reasoning-language-00003", "text": "Right hand: grasp: Right hand adjusts fingers around the wooden mallet handle on the black work surface to form a stable grasp."}, {"label": "subtasks", "start_step": 315, "end_step": 329, "id": "reasoning-language-00004", "text": "Right hand: lift: Right hand lifts the grasped wooden mallet upward, fully separating the mallet from the black supporting surface."}, {"label": "subtasks", "start_step": 330, "end_step": 419, "id": "reasoning-language-00005", "text": "Right hand: transport: Right hand moves the grasped wooden mallet leftward toward the wooden peg board, positioning the yellow mallet head over the red peg."}, {"label": "subtasks", "start_step": 420, "end_step": 449, "id": "reasoning-language-00006", "text": "Right hand: hold: Right hand holds the wooden mallet steady over the wooden peg board without visible movement or hand shape adjustment."}, {"label": "subtasks", "start_step": 450, "end_step": 524, "id": "reasoning-language-00007", "text": "Right hand: grasp: Right hand adjusts its fingers around the wooden mallet handle with slight finger movements to stabilize the grip."}, {"label": "subtasks", "start_step": 525, "end_step": 554, "id": "reasoning-language-00008", "text": "Right hand: hold: Right hand holds the wooden mallet steadily, with the mallet head resting on the wooden peg of the wooden toy base without movement."}, {"label": "subtasks", "start_step": 555, "end_step": 591, "id": "reasoning-language-00009", "text": "Right hand: lift_transport: Right hand lifts the wooden mallet off the wooden peg and transports it upward to the position directly above the peg."}, {"label": "subtasks", "start_step": 592, "end_step": 644, "id": "reasoning-language-00010", "text": "Right hand: reorient: Right hand slightly rotates the wrist to adjust the orientation of the wooden mallet, aligning the mallet head vertically over the wooden peg."}, {"label": "subtasks", "start_step": 645, "end_step": 697, "id": "reasoning-language-00011", "text": "Right hand: transport_press: Right hand moves the aligned wooden mallet vertically downward and presses the mallet head onto the wooden peg to apply downward striking force."}, {"label": "subtasks", "start_step": 698, "end_step": 719, "id": "reasoning-language-00012", "text": "Right hand: lift: Right hand lifts the wooden mallet upward again, moving the mallet head away from the wooden peg after the strike."}, {"label": "subtasks", "start_step": 720, "end_step": 764, "id": "reasoning-language-00013", "text": "Right hand: lift_transport: Right hand holds the wooden mallet, lifts it clear of the black work surface and the wooden peg toy, moving it to the right upper area of the work surface."}, {"label": "subtasks", "start_step": 765, "end_step": 787, "id": "reasoning-language-00014", "text": "Right hand: place_release: Right hand lowers the wooden mallet toward the black work surface, opening fingers to release the mallet so it rests flat on the surface."}, {"label": "subtasks", "start_step": 788, "end_step": 809, "id": "reasoning-language-00015", "text": "Right hand: retreat: Right hand moves upward away from the resting mallet, remaining empty with fingers slightly spread."}, {"label": "subtasks", "start_step": 810, "end_step": 854, "id": "reasoning-language-00016", "text": "Right hand: retreat: Right hand is empty and moves upward to retreat out of the frame through the top-right edge."}, {"label": "subtasks", "start_step": 960, "end_step": 966, "id": "reasoning-language-00017", "text": "Right hand: reach_grasp: Right hand moves from the right edge of the frame toward the yellow hammer, makes contact with the yellow hammer head, and closes fingers to grasp the hammer."}], "episode_index": 339} +{"source_uid": "fc7fc3266e7f62d6", "num_frames": 836, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table.", "tags": {"task_name": "Hammer Nails", "task_instruction": "Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table.", "scene_description": "A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back.", "success_criteria": "Both nails are hammered down securely, and the hammer is placed back stably on the table.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 267, "id": "subtask-001", "text": "Pick up the hammer from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 268, "end_step": 450, "id": "subtask-002", "text": "Hammer down the first nail with the right hand. | Skill: press", "task_skill": "press", "atomic_action": []}, {"label": "subtasks", "start_step": 451, "end_step": 582, "id": "subtask-003", "text": "Hammer down the second nail with the right hand. | Skill: press", "task_skill": "press", "atomic_action": []}, {"label": "subtasks", "start_step": 583, "end_step": 672, "id": "subtask-004", "text": "Place the hammer back on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 267, "id": "subtask-001", "text": "Pick up the hammer from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 268, "end_step": 450, "id": "subtask-002", "text": "Hammer down the first nail with the right hand. | Skill: press", "task_skill": "press", "atomic_action": []}, {"label": "subtasks", "start_step": 451, "end_step": 582, "id": "subtask-003", "text": "Hammer down the second nail with the right hand. | Skill: press", "task_skill": "press", "atomic_action": []}, {"label": "subtasks", "start_step": 583, "end_step": 672, "id": "subtask-004", "text": "Place the hammer back on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData/Hammer_Nails_v2/season_POC22048_2026_05_22_10_21_37_train/POC22048_2026_05_22_19_41_38_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/hammer_nails/season_POC22048_2026_05_22_10_21_37_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 240, "v40_language_source": "previous_published_lerobot", "episode_index": 340} +{"source_uid": "b15a55737513c7f7", "num_frames": 913, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table.", "tags": {"task_name": "Hammer Nails", "task_instruction": "Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table.", "scene_description": "A hammer and two nails are placed on the table. 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the segment. | Right hand: idle: Right hand remains empty and stationary at the top-right edge of the frame, with no movement toward the work surface."}, {"label": "valid", "start_step": 0, "end_step": 899, "id": "adQZyTWA1ppe6zZCVvO2V"}, {"label": "subtasks", "start_step": 75, "end_step": 149, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without any observable movement throughout the segment. | Right hand: reach: Right hand moves down and left from the top-right edge of the frame toward the wooden mallet, staying empty and not making contact with the mallet."}, {"label": "subtasks", "start_step": 150, "end_step": 284, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without any observable movement throughout the segment. | Right hand: grasp: Right hand makes contact with the wooden mallet handle, closes fingers around the handle and adjusts finger and 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hand remains empty at the left edge of the frame without any observable movement throughout the segment. | Right hand: transport_press: Right hand moves the held wooden mallet straight downward a short distance, bringing the yellow mallet head into contact with the top of the red peg to apply vertical downward force."}, {"label": "subtasks", "start_step": 548, "end_step": 749, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without any observable movement throughout the segment. | Right hand: hold: Right hand maintains a stable grip on the wooden mallet handle, holding the mallet stationary with the yellow mallet head resting on the top of the red peg on the wooden base."}, {"label": "subtasks", "start_step": 750, "end_step": 764, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without any observable movement throughout the segment. | Right hand: grasp: Right hand adjusts its fingers around the wooden mallet handle to form a stable grip, fingers tightening against the wooden surface."}, {"label": "subtasks", "start_step": 765, "end_step": 779, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without any observable movement throughout the segment. | Right hand: lift: Right hand lifts the wooden mallet upward, fully separating it from the supporting wooden toy base below."}, {"label": "subtasks", "start_step": 780, "end_step": 831, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without any observable movement throughout the segment. | Right hand: transport: Right hand carries the lifted wooden mallet horizontally rightward across the black textured mat."}, {"label": "subtasks", "start_step": 832, "end_step": 869, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left 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"id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without any observable movement throughout the segment. | Right hand: reach: Right hand enters from the top-right of the frame, empty, and moves downward toward the yellow hammer head on the black mat."}, {"label": "subtasks", "start_step": 1035, "end_step": 1047, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without any observable movement throughout the segment. | Right hand: grasp: Right hand makes contact with the yellow hammer head, closes fingers around it to establish a grasp while the hammer stays on the black mat."}], "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 edge of the frame without any observable movement throughout the segment. | Right hand: idle: Right hand remains empty and stationary at the top-right edge of the frame, with no movement toward the work surface."}, {"label": "subtasks", "start_step": 75, "end_step": 149, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without any observable movement throughout the segment. | Right hand: reach: Right hand moves down and left from the top-right edge of the frame toward the wooden mallet, staying empty and not making contact with the mallet."}, {"label": "subtasks", "start_step": 150, "end_step": 284, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without any observable movement throughout the segment. | Right hand: grasp: Right hand makes contact with the wooden mallet handle, closes fingers around the handle and adjusts finger and wrist positions to form a grasp, while the mallet remains resting on the black work surface."}, {"label": "subtasks", "start_step": 285, "end_step": 321, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without any observable movement throughout the segment. | Right hand: grasp: Right hand closes and adjusts its fingers to establish a stable grasp on the wooden handle of the mallet resting on the black work surface."}, {"label": "subtasks", "start_step": 322, "end_step": 344, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without any observable movement throughout the segment. | Right hand: lift: Right hand lifts the grasped mallet upward until the mallet is completely raised off the black work surface."}, {"label": "subtasks", "start_step": 345, "end_step": 381, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without any observable movement throughout the segment. | Right hand: transport: Right hand carries the lifted mallet leftward through the air toward the wooden pegboard."}, {"label": "subtasks", "start_step": 382, "end_step": 397, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without any observable movement throughout the segment. | Right hand: place: Right hand lowers the mallet to rest its wooden handle on the wooden pegboard surface."}, {"label": "subtasks", "start_step": 398, "end_step": 524, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without any observable movement throughout the segment. | Right hand: hold: Right hand holds the positioned mallet on the wooden pegboard without observable movement."}, {"label": "subtasks", "start_step": 525, "end_step": 547, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without any observable movement throughout the segment. | Right hand: transport_press: Right hand moves the held wooden mallet straight downward a short distance, bringing the yellow mallet head into contact with the top of the red peg to apply vertical downward force."}, {"label": "subtasks", "start_step": 548, "end_step": 749, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without any observable movement throughout the segment. | Right hand: hold: Right hand maintains a stable grip on the wooden mallet handle, holding the mallet stationary with the yellow mallet head resting on the top of the red peg on the wooden base."}, {"label": "subtasks", "start_step": 750, "end_step": 764, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without any observable movement throughout the segment. | Right hand: grasp: Right hand adjusts its fingers around the wooden mallet handle to form a stable grip, fingers tightening against the wooden surface."}, {"label": "subtasks", "start_step": 765, "end_step": 779, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without any observable movement throughout the segment. | Right hand: lift: Right hand lifts the wooden mallet upward, fully separating it from the supporting wooden toy base below."}, {"label": "subtasks", "start_step": 780, "end_step": 831, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without any observable movement throughout the segment. | Right hand: transport: Right hand carries the lifted wooden mallet horizontally rightward across the black textured mat."}, {"label": "subtasks", "start_step": 832, "end_step": 869, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without any observable movement throughout the segment. | Right hand: place_release: Right hand lowers the wooden mallet onto the right area of the black mat until the mallet is fully supported by the surface, fingers opening to release the mallet handle."}, {"label": "subtasks", "start_step": 870, "end_step": 884, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without any observable movement throughout the segment. | Right hand: retreat: Right hand moves empty in an upward-right direction away from the resting wooden mallet."}, {"label": "subtasks", "start_step": 885, "end_step": 1019, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without any observable movement throughout the segment."}, {"label": "subtasks", "start_step": 1020, "end_step": 1034, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without any observable movement throughout the segment. | Right hand: reach: Right hand enters from the top-right of the frame, empty, and moves downward toward the yellow hammer head on the black mat."}, {"label": "subtasks", "start_step": 1035, "end_step": 1047, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without any observable movement throughout the segment. | Right hand: grasp: Right hand makes contact with the yellow hammer head, closes fingers around it to establish a grasp while the hammer stays on the black mat."}], "episode_index": 343} +{"source_uid": "8194b221c4918fd3", "num_frames": 935, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. 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"start_step": 278, "end_step": 344, "id": "reasoning-language-00006", "text": "Right hand: transport: Right hand transports the yellow-headed wooden hammer towards the wooden perforated plate with green pegs."}, {"label": "subtasks", "start_step": 345, "end_step": 404, "id": "reasoning-language-00007", "text": "Right hand: grasp: Right hand adjusts its fingers to form a stable grasp on the yellow-headed wooden hammer."}, {"label": "subtasks", "start_step": 405, "end_step": 449, "id": "reasoning-language-00008", "text": "Right hand: hold: Right hand holds the yellow-headed wooden hammer without moving."}, {"label": "subtasks", "start_step": 450, "end_step": 509, "id": "reasoning-language-00009", "text": "Right hand: transport: Right hand moves the yellow-headed wooden hammer upwards to the position above the green peg."}, {"label": "subtasks", "start_step": 510, "end_step": 561, "id": "reasoning-language-00010", "text": "Right hand: transport: Right hand moves the yellow-headed wooden 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"start_step": 742, "end_step": 749, "id": "reasoning-language-00015", "text": "Right hand: retreat: Right hand retreats away from the hammer placed on the black table surface."}, {"label": "home", "start_step": 761, "end_step": 909, "id": "lU4OeLcSklSUnwe0jGkHs"}], "language_segments": [{"label": "subtasks", "start_step": 60, "end_step": 134, "id": "reasoning-language-00001", "text": "Right hand: reach: Right hand enters from the right edge of the frame and moves toward the yellow-headed hammer placed on the black mat."}, {"label": "subtasks", "start_step": 135, "end_step": 179, "id": "reasoning-language-00002", "text": "Right hand: grasp: Right hand contacts the wooden handle of the yellow-headed hammer, adjusts fingers to form a stable grip."}, {"label": "subtasks", "start_step": 180, "end_step": 224, "id": "reasoning-language-00003", "text": "Right hand: hold: Right hand holds the yellow-headed hammer stably on the black mat without moving."}, {"label": "subtasks", "start_step": 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"reasoning-language-00008", "text": "Right hand: lift_transport: Right hand holds the wooden mallet, lifts it completely off the wooden peg board, and transports it toward the right rear area above the black work surface."}, {"label": "subtasks", "start_step": 728, "end_step": 757, "id": "reasoning-language-00009", "text": "Right hand: place_release: Right hand lowers the wooden mallet onto the black table surface until it rests stably, with fingers opening to release contact with the mallet."}, {"label": "subtasks", "start_step": 758, "end_step": 794, "id": "reasoning-language-00010", "text": "Right hand: retreat: Right hand stays empty as it moves upward and backward away from the resting mallet."}, {"label": "home", "start_step": 777, "end_step": 925, "id": "Qede_8Pgdbzw8YR89NNmz"}], "language_segments": [{"label": "subtasks", "start_step": 90, "end_step": 141, "id": "reasoning-language-00001", "text": "Right hand: reach: Right hand enters from the top right edge of the frame, moves 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"reasoning-language-00005", "text": "Right hand: grasp: Right hand slightly adjusts its finger positions on the mallet handle to stabilize the grip, with minimal movement of the mallet above the peg board."}, {"label": "subtasks", "start_step": 450, "end_step": 494, "id": "reasoning-language-00006", "text": "Right hand: press: Right hand holds the handle of the wooden mallet, moves vertically downward together with the mallet, and applies downward pressure to press the mallet head against the green peg on the perforated wooden board."}, {"label": "subtasks", "start_step": 495, "end_step": 674, "id": "reasoning-language-00007", "text": "Right hand: grasp: Right hand continuously makes fine adjustments to its grip on the wooden mallet, slightly shifting the mallet's horizontal position and rotating it by small angles to adjust its placement on the wooden peg board."}, {"label": "subtasks", "start_step": 675, "end_step": 727, "id": "reasoning-language-00008", "text": "Right hand: lift_transport: Right hand holds the wooden mallet, lifts it completely off the wooden peg board, and transports it toward the right rear area above the black work surface."}, {"label": "subtasks", "start_step": 728, "end_step": 757, "id": "reasoning-language-00009", "text": "Right hand: place_release: Right hand lowers the wooden mallet onto the black table surface until it rests stably, with fingers opening to release contact with the mallet."}, {"label": "subtasks", "start_step": 758, "end_step": 794, "id": "reasoning-language-00010", "text": "Right hand: retreat: Right hand stays empty as it moves upward and backward away from the resting mallet."}], "episode_index": 349} +{"source_uid": "97301cafe1c093b5", "num_frames": 962, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table.", "tags": {"task_name": "Hammer Nails", "task_instruction": "Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table.", "scene_description": "A hammer and two nails are placed on the table. 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hand: hold: Right hand holds the hammer steadily with the yellow head positioned over the red peg on the wooden board without observable movement."}, {"label": "subtasks", "start_step": 390, "end_step": 449, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains outside the visible operation area, empty and stationary with no observable movement. | Right hand: grasp: Right hand adjusts its fingers around the wooden handle of the hammer, slightly tightening the grip to stabilize hold on the hammer."}, {"label": "subtasks", "start_step": 450, "end_step": 591, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains outside the visible operation area, empty and stationary with no observable movement. | Right hand: transport: Right hand holds the hammer and moves it slightly upward and leftward to reposition it directly above the top of the green peg."}, {"label": "subtasks", "start_step": 592, "end_step": 614, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains outside the visible operation area, empty and stationary with no observable movement. | Right hand: press: Right hand moves the hammer slightly downward vertically to strike the top of the green peg, applying downward pressure on the peg surface."}, {"label": "subtasks", "start_step": 615, "end_step": 651, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains outside the visible operation area, empty and stationary with no observable movement. | Right hand: lift: Right hand holds the wooden hammer and lifts it upward to fully separate it from the wooden peg platform and black supporting surface."}, {"label": "subtasks", "start_step": 652, "end_step": 674, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains outside the visible operation area, empty and stationary with no observable movement. | Right hand: transport: Right hand carries the lifted hammer toward the right side of the work area, rotating the hammer about a quarter turn to adjust its orientation to horizontal."}, {"label": "subtasks", "start_step": 675, "end_step": 704, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains outside the visible operation area, empty and stationary with no observable movement. | Right hand: place_release: Right hand lowers the hammer onto the right area of the black supporting surface to lay it horizontally, with fingers opening to release the hammer handle."}, {"label": "subtasks", "start_step": 705, "end_step": 719, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains outside the visible operation area, empty and stationary with no observable movement. | Right hand: retreat: Right hand moves away from the placed hammer in the upward-right direction with empty fingers."}, {"label": "subtasks", "start_step": 720, "end_step": 870, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains outside the visible 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with pegs."}, {"label": "subtasks", "start_step": 330, "end_step": 367, "id": "reasoning-language-00006", "text": "Right hand: transport: Right hand holds the wooden hammer and moves it upward to the position above the yellow peg on the wooden toy."}, {"label": "subtasks", "start_step": 368, "end_step": 411, "id": "reasoning-language-00007", "text": "Right hand: press: Right hand moves the wooden hammer downward to press against the yellow peg, striking it to push out the red small peg."}, {"label": "subtasks", "start_step": 412, "end_step": 449, "id": "reasoning-language-00008", "text": "Right hand: transport: Right hand holds the wooden hammer and moves it upward away from the yellow peg."}, {"label": "subtasks", "start_step": 450, "end_step": 494, "id": "reasoning-language-00009", "text": "Right hand: press: Right hand moves the wooden hammer downward to press against the yellow peg, striking it to push out the red small peg."}, {"label": "subtasks", "start_step": 495, "end_step": 539, "id": "reasoning-language-00010", "text": "Right hand: transport: Right hand holds the wooden hammer and moves it upward away from the yellow peg."}, {"label": "subtasks", "start_step": 540, "end_step": 584, "id": "reasoning-language-00011", "text": "Right hand: press: Right hand moves the wooden hammer downward to press against the yellow peg, striking it to push out the red small peg."}, {"label": "subtasks", "start_step": 585, "end_step": 659, "id": "reasoning-language-00012", "text": "Right hand: transport: Right hand holds the yellow hammer and moves rightward in the air above the black mat."}, {"label": "subtasks", "start_step": 660, "end_step": 681, "id": "reasoning-language-00013", "text": "Right hand: place: Right hand moves the hammer downward and places it on the right area of the black mat."}, {"label": "subtasks", "start_step": 682, "end_step": 704, "id": "reasoning-language-00014", "text": "Right hand: release_retreat: Right hand releases the hammer and moves 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"reasoning-language-00007", "text": "Right hand: press: Right hand moves the wooden hammer downward to press against the yellow peg, striking it to push out the red small peg."}, {"label": "subtasks", "start_step": 412, "end_step": 449, "id": "reasoning-language-00008", "text": "Right hand: transport: Right hand holds the wooden hammer and moves it upward away from the yellow peg."}, {"label": "subtasks", "start_step": 450, "end_step": 494, "id": "reasoning-language-00009", "text": "Right hand: press: Right hand moves the wooden hammer downward to press against the yellow peg, striking it to push out the red small peg."}, {"label": "subtasks", "start_step": 495, "end_step": 539, "id": "reasoning-language-00010", "text": "Right hand: transport: Right hand holds the wooden hammer and moves it upward away from the yellow peg."}, {"label": "subtasks", "start_step": 540, "end_step": 584, "id": "reasoning-language-00011", "text": "Right hand: press: Right hand moves the wooden hammer 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hand reaches downward towards the top of the wooden board and grasps it with fingers adjusting to form a stable grip."}], "episode_index": 373} +{"source_uid": "f2b244f465000779", "num_frames": 892, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Hammer_Nails_v2", "tags": {"task_name": "Hammer_Nails_v2", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "B", "SOP": ""}, "segments": [{"label": "valid", "start_step": 0, "end_step": 742, "id": "yunvHqXptfBn9LUGsA_Gs"}, {"label": "subtasks", "start_step": 15, "end_step": 134, "id": "reasoning-language-00001", "text": "Right hand: reach: Right hand moves downward from the upper right of the frame toward the wooden handle of the yellow hammer, staying empty while approaching the target."}, {"label": "subtasks", "start_step": 135, "end_step": 194, "id": "reasoning-language-00002", "text": "Right hand: grasp: Right hand closes fingers around the wooden handle of the yellow hammer, 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hold: Right hand holds the wooden mallet with a yellow head resting on the wooden peg toy without any visible movement."}, {"label": "subtasks", "start_step": 405, "end_step": 434, "id": "reasoning-language-00007", "text": "Right hand: grasp: Right hand slightly rotates the wrist left to turn the mallet head about 30 degrees left, with minor finger adjustments to the grip on the mallet handle."}, {"label": "subtasks", "start_step": 435, "end_step": 479, "id": "reasoning-language-00008", "text": "Right hand: grasp: Right hand rotates the wrist right to return the mallet head to the forward-facing position, shifts slightly upward, and adjusts finger contact points on the mallet handle."}, {"label": "subtasks", "start_step": 480, "end_step": 501, "id": "reasoning-language-00009", "text": "Right hand: hold: Right hand holds the mallet steady on the peg toy without visible movement of the hand, fingers, or mallet."}, {"label": "subtasks", "start_step": 502, "end_step": 577, "id": "reasoning-language-00010", "text": "Right hand: grasp: Right hand rotates the wrist left to tilt the mallet head about 45 degrees left, shifts slightly downward, and makes minor finger adjustments to stabilize the grip."}, {"label": "subtasks", "start_step": 578, "end_step": 629, "id": "reasoning-language-00011", "text": "Right hand: hold: Right hand holds the tilted mallet steady on the peg toy without any visible movement."}, {"label": "subtasks", "start_step": 630, "end_step": 644, "id": "reasoning-language-00012", "text": "Right hand: grasp: Right hand rotates the wrist slightly right to turn the mallet head back toward the forward position, with minor grip adjustment."}, {"label": "subtasks", "start_step": 645, "end_step": 689, "id": "reasoning-language-00013", "text": "Right hand: transport: Right hand holds the wooden mallet with a yellow head and moves it rightward through the air above the black work surface, away from the wooden peg toy."}, {"label": "subtasks", "start_step": 690, "end_step": 711, "id": "reasoning-language-00014", "text": "Right hand: place_release: Right hand lowers the held wooden mallet to rest stably on the right area of the black work surface and opens its fingers to release the mallet handle."}, {"label": "subtasks", "start_step": 712, "end_step": 734, "id": "reasoning-language-00015", "text": "Right hand: retreat: Right hand moves empty upward and rightward away from the placed wooden mallet."}, {"label": "home", "start_step": 743, "end_step": 891, "id": "JjmWbRh1g076DU2TkZVc7"}], "language_segments": [{"label": "subtasks", "start_step": 15, "end_step": 134, "id": "reasoning-language-00001", "text": "Right hand: reach: Right hand moves downward from the upper right of the frame toward the wooden handle of the yellow hammer, staying empty while approaching the target."}, {"label": "subtasks", "start_step": 135, "end_step": 194, "id": "reasoning-language-00002", "text": "Right hand: grasp: Right hand closes fingers around 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"reasoning-language-00006", "text": "Right hand: hold: Right hand holds the wooden mallet with a yellow head resting on the wooden peg toy without any visible movement."}, {"label": "subtasks", "start_step": 405, "end_step": 434, "id": "reasoning-language-00007", "text": "Right hand: grasp: Right hand slightly rotates the wrist left to turn the mallet head about 30 degrees left, with minor finger adjustments to the grip on the mallet handle."}, {"label": "subtasks", "start_step": 435, "end_step": 479, "id": "reasoning-language-00008", "text": "Right hand: grasp: Right hand rotates the wrist right to return the mallet head to the forward-facing position, shifts slightly upward, and adjusts finger contact points on the mallet handle."}, {"label": "subtasks", "start_step": 480, "end_step": 501, "id": "reasoning-language-00009", "text": "Right hand: hold: Right hand holds the mallet steady on the peg toy without visible movement of the hand, fingers, or mallet."}, {"label": "subtasks", "start_step": 502, "end_step": 577, "id": "reasoning-language-00010", "text": "Right hand: grasp: Right hand rotates the wrist left to tilt the mallet head about 45 degrees left, shifts slightly downward, and makes minor finger adjustments to stabilize the grip."}, {"label": "subtasks", "start_step": 578, "end_step": 629, "id": "reasoning-language-00011", "text": "Right hand: hold: Right hand holds the tilted mallet steady on the peg toy without any visible movement."}, {"label": "subtasks", "start_step": 630, "end_step": 644, "id": "reasoning-language-00012", "text": "Right hand: grasp: Right hand rotates the wrist slightly right to turn the mallet head back toward the forward position, with minor grip adjustment."}, {"label": "subtasks", "start_step": 645, "end_step": 689, "id": "reasoning-language-00013", "text": "Right hand: transport: Right hand holds the wooden mallet with a yellow head and moves it rightward through the air above the black work surface, away from the wooden peg toy."}, {"label": "subtasks", "start_step": 690, "end_step": 711, "id": "reasoning-language-00014", "text": "Right hand: place_release: Right hand lowers the held wooden mallet to rest stably on the right area of the black work surface and opens its fingers to release the mallet handle."}, {"label": "subtasks", "start_step": 712, "end_step": 734, "id": "reasoning-language-00015", "text": "Right hand: retreat: Right hand moves empty upward and rightward away from the placed wooden mallet."}], "episode_index": 374} +{"source_uid": "424efc4e35ca706f", "num_frames": 873, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. 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"id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without any visible movement. | Right hand: hold: Right hand holds the wooden handle of the yellow mallet resting on the black work surface without any visible movement."}, {"label": "subtasks", "start_step": 225, "end_step": 239, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without any visible movement. | Right hand: release: Right hand opens fingers to release the previous grip on the wooden mallet handle, separating fingers from the handle surface."}, {"label": "subtasks", "start_step": 240, "end_step": 254, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without any visible movement. | Right hand: reach: Right hand moves slightly toward the target position on the wooden mallet handle with fingers spread, approaching the handle without making contact."}, {"label": "subtasks", "start_step": 255, "end_step": 411, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without any visible movement. | Right hand: grasp: Right hand makes contact with the wooden mallet handle, repeatedly adjusting finger positions, opening and closing fingers slightly to shift contact points for a stable grip."}, {"label": "subtasks", "start_step": 412, "end_step": 434, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without any visible movement. | Right hand: hold: Right hand holds the wooden mallet handle steadily on the black work surface, with no visible movement of the hand, fingers or the mallet."}, {"label": "subtasks", "start_step": 435, "end_step": 479, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without any visible movement. | Right hand: grasp: Right hand adjusts finger positions to firmly grasp the wooden handle of the yellow mallet resting on the black table surface."}, {"label": "subtasks", "start_step": 480, "end_step": 554, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without any visible movement. | Right hand: lift_transport: Right hand lifts the grasped yellow mallet off the black table surface and moves it leftward toward the wooden peg toy."}, {"label": "subtasks", "start_step": 555, "end_step": 584, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without any visible movement. | Right hand: hold: Right hand holds the yellow mallet steadily above the wooden peg toy without moving."}, {"label": "subtasks", "start_step": 585, "end_step": 727, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without any visible movement. | Right hand: grasp: Right hand adjusts finger positions around the wooden mallet handle to form and stabilize a firm grip on the mallet."}, {"label": "subtasks", "start_step": 728, "end_step": 771, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without any visible movement. | Right hand: hold: Right hand holds the wooden mallet handle with a stable grip, with no visible movement of the hand, fingers or mallet."}, {"label": "subtasks", "start_step": 772, "end_step": 794, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without any visible movement. | Right hand: press: Right hand moves the held wooden mallet vertically downward, applying downward pressure to the peg positioned under the mallet head."}, {"label": "subtasks", "start_step": 795, "end_step": 854, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without any visible movement. | Right hand: lift_transport: Right hand grips the wooden mallet with a yellow head, lifts it clear of the wooden peg toy base, and carries it rightward through the air to a position above the right section of the black work surface."}, {"label": "subtasks", "start_step": 855, "end_step": 877, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without any visible movement. | Right hand: place_release: Right hand lowers the wooden mallet until the yellow head and wooden handle lie stably on the black work surface, opening its fingers to release contact with the mallet handle."}, {"label": "subtasks", "start_step": 878, "end_step": 929, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without any visible movement. | Right hand: retreat: Right hand moves in an empty state upward and rightward, retreating away from the placed mallet until it moves out of the visible frame."}, {"label": "home", "start_step": 904, "end_step": 1051, "id": "8fHqhLP4q_gFrT7AU4Fd5"}, {"label": "subtasks", "start_step": 930, "end_step": 1034, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without any visible movement."}, {"label": "subtasks", "start_step": 1035, "end_step": 1049, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without any visible movement. | Right hand: reach: Right hand enters from the top-right edge of the frame, moves downward to approach the yellow mallet on the black mat."}, {"label": "subtasks", "start_step": 1050, "end_step": 1051, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without any visible movement."}], "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 edge of the frame without any visible movement. | Right hand: idle: Right hand remains empty at the top-right edge of the frame without any visible movement."}, {"label": "subtasks", "start_step": 60, "end_step": 127, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without any visible movement. | Right hand: reach: Right hand moves diagonally downward and leftward with fingers slightly open, approaching the wooden handle of the yellow mallet placed on the black textured surface."}, {"label": "subtasks", "start_step": 128, "end_step": 194, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without any visible movement. | Right hand: grasp: Right hand closes fingers around the wooden handle of the yellow mallet, making small adjustments to finger positions to establish a grip."}, {"label": "subtasks", "start_step": 195, "end_step": 224, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without any visible movement. | Right hand: hold: Right hand holds the wooden handle of the yellow mallet resting on the black work surface without any visible movement."}, {"label": "subtasks", "start_step": 225, "end_step": 239, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without any visible movement. | Right hand: release: Right hand opens fingers to release the previous grip on the wooden mallet handle, separating fingers from the handle surface."}, {"label": "subtasks", "start_step": 240, "end_step": 254, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without any visible movement. | Right hand: reach: Right hand moves slightly toward the target position on the wooden mallet handle with fingers spread, approaching the handle without making contact."}, {"label": "subtasks", "start_step": 255, "end_step": 411, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without any visible movement. | Right hand: grasp: Right hand makes contact with the wooden mallet handle, repeatedly adjusting finger positions, opening and closing fingers slightly to shift contact points for a stable grip."}, {"label": "subtasks", "start_step": 412, "end_step": 434, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without any visible movement. | Right hand: hold: Right hand holds the wooden mallet handle steadily on the black work surface, with no visible movement of the hand, fingers or the mallet."}, {"label": "subtasks", "start_step": 435, "end_step": 479, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without any visible movement. | Right hand: grasp: Right hand adjusts finger positions to firmly grasp the wooden handle of the yellow mallet resting on the black table surface."}, {"label": "subtasks", "start_step": 480, "end_step": 554, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without any visible movement. | Right hand: lift_transport: Right hand lifts the grasped yellow mallet off the black table surface and moves it leftward toward the wooden peg toy."}, {"label": "subtasks", "start_step": 555, "end_step": 584, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without any visible movement. | Right hand: hold: Right hand holds the yellow mallet steadily above the wooden peg toy without moving."}, {"label": "subtasks", "start_step": 585, "end_step": 727, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without any visible movement. | Right hand: grasp: Right hand adjusts finger positions around the wooden mallet handle to form and stabilize a firm grip on the mallet."}, {"label": "subtasks", "start_step": 728, "end_step": 771, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without any visible movement. | Right hand: hold: Right hand holds the wooden mallet handle with a stable grip, with no visible movement of the hand, fingers or mallet."}, {"label": "subtasks", "start_step": 772, "end_step": 794, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without any visible movement. | Right hand: press: Right hand moves the held wooden mallet vertically downward, applying downward pressure to the peg positioned under the mallet head."}, {"label": "subtasks", "start_step": 795, "end_step": 854, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without any visible movement. | Right hand: lift_transport: Right hand grips the wooden mallet with a yellow head, lifts it clear of the wooden peg toy base, and carries it rightward through the air to a position above the right section of the black work surface."}, {"label": "subtasks", "start_step": 855, "end_step": 877, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without any visible movement. | Right hand: place_release: Right hand lowers the wooden mallet until the yellow head and wooden handle lie stably on the black work surface, opening its fingers to release contact with the mallet handle."}, {"label": "subtasks", "start_step": 878, "end_step": 929, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without any visible movement. | Right hand: retreat: Right hand moves in an empty state upward and rightward, retreating away from the placed mallet until it moves out of the visible frame."}, {"label": "subtasks", "start_step": 930, "end_step": 1034, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without any visible movement."}, {"label": "subtasks", "start_step": 1035, "end_step": 1049, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without any visible movement. | Right hand: reach: Right hand enters from the top-right edge of the frame, moves downward to approach the yellow mallet on the black mat."}, {"label": "subtasks", "start_step": 1050, "end_step": 1051, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without any visible movement."}], "episode_index": 376} +{"source_uid": "febbd987ba3a03f3", "num_frames": 977, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Hammer_Nails_v2", "tags": {"task_name": "Hammer_Nails_v2", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "B", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 67, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains partially visible at the left edge of the camera frame, empty and stationary without contacting any objects. | Right hand: idle: Right hand remains partially visible at the top-right edge of the camera frame, empty and stationary without moving."}, {"label": "valid", "start_step": 0, "end_step": 827, "id": "8BjT2i6L1Ooob1f4fS2MD"}, {"label": "subtasks", "start_step": 68, "end_step": 127, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains partially visible at the left edge of the camera frame, empty and stationary without contacting any objects. | Right hand: reach: Right hand moves leftward and downward toward the wooden handle of the yellow hammer, remaining empty as it approaches the target."}, {"label": "subtasks", "start_step": 128, "end_step": 224, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains partially visible at the left edge of the camera frame, empty and stationary without contacting any objects. | Right hand: grasp: Right hand makes contact with the wooden handle of the yellow hammer, fingers closing and adjusting to form a grip on the handle while the hammer stays resting on the black work surface."}, {"label": "subtasks", "start_step": 225, "end_step": 284, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains partially visible at the left edge of the camera frame, empty and stationary without contacting any objects. | Right hand: grasp: Right hand adjusts finger positions to close around and establish a stable grasp on the wooden handle of the yellow mallet resting on the black table surface."}, {"label": "subtasks", "start_step": 285, "end_step": 329, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains partially visible at the left edge of the camera frame, empty and stationary without contacting any objects. | Right hand: lift: Right hand lifts the grasped yellow mallet upward, raising the yellow mallet head fully off the table while the distal end of the wooden handle remains in contact with the table surface."}, {"label": "subtasks", "start_step": 330, "end_step": 389, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains partially visible at the left edge of the camera frame, empty and stationary without contacting any objects. | Right hand: transport: Right hand transports the lifted yellow mallet leftward toward the wooden peg toy, while rotating the mallet clockwise about a quarter turn to point the yellow mallet head downward."}, {"label": "subtasks", "start_step": 390, "end_step": 434, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains partially visible at the left edge of the camera frame, empty and stationary without contacting any objects. | Right hand: hold: Right hand holds the yellow mallet steadily above the wooden peg toy, with the mallet head aligned over the pegs, without any observable movement."}, {"label": "subtasks", "start_step": 435, "end_step": 487, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains partially visible at the left edge of the camera frame, empty and stationary without contacting any objects. | Right hand: mate: Right hand holds the wooden mallet handle, shifts the mallet slightly horizontally to align its shaft with the target hole on the perforated wooden board."}, {"label": "subtasks", "start_step": 488, "end_step": 539, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains partially visible at the left edge of the camera frame, empty and stationary without contacting any objects. | Right hand: press: Right hand exerts vertical downward pressure on the aligned wooden mallet, pushing the mallet head down to make firm contact with the wooden board surface."}, {"label": "subtasks", "start_step": 540, "end_step": 629, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains partially visible at the left edge of the camera frame, empty and stationary without contacting any objects. | Right hand: hold: Right hand holds the wooden mallet steady against the wooden board with no observable movement of the hand or mallet."}, {"label": "subtasks", "start_step": 630, "end_step": 674, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains partially visible at the left edge of the camera frame, empty and stationary without contacting any objects. | Right hand: grasp: Right hand makes slight adjustments to its fingers and wrist to resecure its grasp on the wooden mallet on the wooden toy."}, {"label": "subtasks", "start_step": 675, "end_step": 727, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains partially visible at the left edge of the camera frame, empty and stationary without contacting any objects. | Right hand: lift_transport: Right hand lifts the wooden mallet completely off the wooden toy, transports it toward the right side of the black work surface, and rotates the mallet about a quarter turn to shift the yellow mallet head from a vertical to horizontal orientation."}, {"label": "subtasks", "start_step": 728, "end_step": 779, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains partially visible at the left edge of the camera frame, empty and stationary without contacting any objects. | Right hand: place_release: Right hand lowers the wooden mallet onto the right side of the black work surface, opens its fingers to release the mallet to rest flat on the surface."}, {"label": "subtasks", "start_step": 780, "end_step": 801, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains partially visible at the left edge of the camera frame, empty and stationary without contacting any objects. | Right hand: idle: Right hand remains empty beside the wooden mallet on the black work surface, holding a static posture with no movement."}, {"label": "subtasks", "start_step": 802, "end_step": 847, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains partially visible at the left edge of the camera frame, empty and stationary without contacting any objects. | Right hand: retreat: Right hand moves upward and rightward away from the mallet while remaining empty, retreating from the operation position near the mallet."}, {"label": "home", "start_step": 828, "end_step": 976, "id": "WgSc-yB1oRSviUo90Rbly"}, {"label": "subtasks", "start_step": 848, "end_step": 974, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains partially visible at the left edge of the camera frame, empty and stationary without contacting any objects. | Right hand: idle: Right hand is not visible in the frame, with no observable movement or contact with any operated object."}, {"label": "subtasks", "start_step": 975, "end_step": 976, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains partially visible at the left edge of the camera frame, empty and stationary without contacting any objects. | Right hand: reach: Right hand enters from the upper right edge of the frame, moving downward as an empty hand."}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 67, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains partially visible at the left edge of the camera frame, empty and stationary without contacting any objects. | Right hand: idle: Right hand remains partially visible at the top-right edge of the camera frame, empty and stationary without moving."}, {"label": "subtasks", "start_step": 68, "end_step": 127, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains partially visible at the left edge of the camera frame, empty and stationary without contacting any objects. | Right hand: reach: Right hand moves leftward and downward toward the wooden handle of the yellow hammer, remaining empty as it approaches the target."}, {"label": "subtasks", "start_step": 128, "end_step": 224, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains partially visible at the left edge of the camera frame, empty and stationary without contacting any objects. | Right hand: grasp: Right hand makes contact with the wooden handle of the yellow hammer, fingers closing and adjusting to form a grip on the handle while the hammer stays resting on the black work surface."}, {"label": "subtasks", "start_step": 225, "end_step": 284, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains partially visible at the left edge of the camera frame, empty and stationary without contacting any objects. | Right hand: grasp: Right hand adjusts finger positions to close around and establish a stable grasp on the wooden handle of the yellow mallet resting on the black table surface."}, {"label": "subtasks", "start_step": 285, "end_step": 329, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains partially visible at the left edge of the camera frame, empty and stationary without contacting any objects. | Right hand: lift: Right hand lifts the grasped yellow mallet upward, raising the yellow mallet head fully off the table while the distal end of the wooden handle remains in contact with the table surface."}, {"label": "subtasks", "start_step": 330, "end_step": 389, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains partially visible at the left edge of the camera frame, empty and stationary without contacting any objects. | Right hand: transport: Right hand transports the lifted yellow mallet leftward toward the wooden peg toy, while rotating the mallet clockwise about a quarter turn to point the yellow mallet head downward."}, {"label": "subtasks", "start_step": 390, "end_step": 434, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains partially visible at the left edge of the camera frame, empty and stationary without contacting any objects. | Right hand: hold: Right hand holds the yellow mallet steadily above the wooden peg toy, with the mallet head aligned over the pegs, without any observable movement."}, {"label": "subtasks", "start_step": 435, "end_step": 487, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains partially visible at the left edge of the camera frame, empty and stationary without contacting any objects. | Right hand: mate: Right hand holds the wooden mallet handle, shifts the mallet slightly horizontally to align its shaft with the target hole on the perforated wooden board."}, {"label": "subtasks", "start_step": 488, "end_step": 539, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains partially visible at the left edge of the camera frame, empty and stationary without contacting any objects. | Right hand: press: Right hand exerts vertical downward pressure on the aligned wooden mallet, pushing the mallet head down to make firm contact with the wooden board surface."}, {"label": "subtasks", "start_step": 540, "end_step": 629, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains partially visible at the left edge of the camera frame, empty and stationary without contacting any objects. | Right hand: hold: Right hand holds the wooden mallet steady against the wooden board with no observable movement of the hand or mallet."}, {"label": "subtasks", "start_step": 630, "end_step": 674, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains partially visible at the left edge of the camera frame, empty and stationary without contacting any objects. | Right hand: grasp: Right hand makes slight adjustments to its fingers and wrist to resecure its grasp on the wooden mallet on the wooden toy."}, {"label": "subtasks", "start_step": 675, "end_step": 727, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains partially visible at the left edge of the camera frame, empty and stationary without contacting any objects. | Right hand: lift_transport: Right hand lifts the wooden mallet completely off the wooden toy, transports it toward the right side of the black work surface, and rotates the mallet about a quarter turn to shift the yellow mallet head from a vertical to horizontal orientation."}, {"label": "subtasks", "start_step": 728, "end_step": 779, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains partially visible at the left edge of the camera frame, empty and stationary without contacting any objects. | Right hand: place_release: Right hand lowers the wooden mallet onto the right side of the black work surface, opens its fingers to release the mallet to rest flat on the surface."}, {"label": "subtasks", "start_step": 780, "end_step": 801, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains partially visible at the left edge of the camera frame, empty and stationary without contacting any objects. | Right hand: idle: Right hand remains empty beside the wooden mallet on the black work surface, holding a static posture with no movement."}, {"label": "subtasks", "start_step": 802, "end_step": 847, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains partially visible at the left edge of the camera frame, empty and stationary without contacting any objects. | Right hand: retreat: Right hand moves upward and rightward away from the mallet while remaining empty, retreating from the operation position near the mallet."}, {"label": "subtasks", "start_step": 848, "end_step": 974, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains partially visible at the left edge of the camera frame, empty and stationary without contacting any objects. | Right hand: idle: Right hand is not visible in the frame, with no observable movement or contact with any operated object."}, {"label": "subtasks", "start_step": 975, "end_step": 976, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains partially visible at the left edge of the camera frame, empty and stationary without contacting any objects. | Right hand: reach: Right hand enters from the upper right edge of the frame, moving downward as an empty hand."}], "episode_index": 377} +{"source_uid": "4fd4da66eae69871", "num_frames": 1310, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Hammer_Nails_v2", "tags": {"task_name": "Hammer_Nails_v2", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "B", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 67, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand stays partially visible at the left edge of the frame, remaining empty and stationary without contacting any object. | Right hand: idle: Right hand remains at the top right edge of the frame, empty and without observable movement."}, {"label": "goal", "start_step": 0, "end_step": 368, "id": "fca94616-3939-4d15-b303-e22481afbb1b"}, {"label": "valid", "start_step": 0, "end_step": 1160, "id": "CRHcIuCTv1nbtEA0Q_nc9"}, {"label": "subtasks", "start_step": 68, "end_step": 164, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand stays partially visible at the left edge of the frame, remaining empty and stationary without contacting any object. | Right hand: reach: Right hand moves downward from the top right of the frame toward the wooden handle of the yellow mallet, staying empty while approaching the target."}, {"label": "subtasks", "start_step": 165, "end_step": 307, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand stays partially visible at the left edge of the frame, remaining empty and stationary without contacting any object. | Right hand: grasp: Right hand makes contact with the wooden handle of the yellow mallet, with fingers closing and making small adjustments to establish a stable grip on the handle."}, {"label": "subtasks", "start_step": 308, "end_step": 344, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand stays partially visible at the left edge of the frame, remaining empty and stationary without contacting any object. | Right hand: lift: Right hand holds the wooden handle of the yellow mallet and begins to lift the handle upward from the black supporting surface."}, {"label": "subtasks", "start_step": 345, "end_step": 381, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand stays partially visible at the left edge of the frame, remaining empty and stationary without contacting any object. | Right hand: grasp: Right hand closes its fingers around the wooden mallet handle to tighten and form a stable grip."}, {"label": "goal", "start_step": 369, "end_step": 626, "id": "82093629-35c5-4155-9b50-77b26276697b"}, {"label": "subtasks", "start_step": 382, "end_step": 411, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand stays partially visible at the left edge of the frame, remaining empty and stationary without contacting any object. | Right hand: lift: Right hand lifts the grasped wooden mallet upward until the mallet is completely separated from the black supporting surface."}, {"label": "subtasks", "start_step": 412, "end_step": 487, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand stays partially visible at the left edge of the frame, remaining empty and stationary without contacting any object. | Right hand: transport: Right hand carries the lifted wooden mallet leftward toward the area above the wooden peg platform."}, {"label": "subtasks", "start_step": 488, "end_step": 561, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand stays partially visible at the left edge of the frame, remaining empty and stationary without contacting any object. | Right hand: place: Right hand moves the wooden mallet downward to rest the yellow mallet head on the wooden peg platform until the mallet is supported by the platform."}, {"label": "subtasks", "start_step": 562, "end_step": 584, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand stays partially visible at the left edge of the frame, remaining empty and stationary without contacting any object. | Right hand: hold: Right hand holds the wooden mallet handle steadily without movement, with the mallet head supported by the wooden peg platform."}, {"label": "subtasks", "start_step": 585, "end_step": 681, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand stays partially visible at the left edge of the frame, remaining empty and stationary without contacting any object. | Right hand: grasp: Right hand adjusts finger positions to establish a stable grip on the wooden handle of the yellow mallet."}, {"label": "goal", "start_step": 627, "end_step": 950, "id": "a317792a-515a-404e-bd5e-8a1983a8f4e4"}, {"label": "subtasks", "start_step": 682, "end_step": 944, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand stays partially visible at the left edge of the frame, remaining empty and stationary without contacting any object. | Right hand: other:repeated_tapping: Right hand holds the yellow mallet, performing small repeated vertical up-and-down movements to tap the wooden peg on the wooden toy base."}, {"label": "subtasks", "start_step": 945, "end_step": 959, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand stays partially visible at the left edge of the frame, remaining empty and stationary without contacting any object. | Right hand: hold: Right hand holds the yellow wooden mallet inserted in the hole of the wooden platform without movement."}, {"label": "goal", "start_step": 951, "end_step": 1130, "id": "e62c4c6e-78fb-4648-834e-cb9deb189de5"}, {"label": "subtasks", "start_step": 960, "end_step": 981, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand stays partially visible at the left edge of the frame, remaining empty and stationary without contacting any object. | Right hand: lift: Right hand lifts the grasped yellow wooden mallet upward, fully detaching it from the wooden platform's surface."}, {"label": "subtasks", "start_step": 982, "end_step": 1034, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand stays partially visible at the left edge of the frame, remaining empty and stationary without contacting any object. | Right hand: transport_place: Right hand transports the grasped yellow wooden mallet rightward across the black mat and lowers it slightly to set its wooden end on the mat surface."}, {"label": "subtasks", "start_step": 1035, "end_step": 1101, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand stays partially visible at the left edge of the frame, remaining empty and stationary without contacting any object. | Right hand: hold: Right hand holds the yellow wooden mallet stationary against the rear wall, with its wooden end supported by the black mat."}, {"label": "subtasks", "start_step": 1102, "end_step": 1117, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand stays partially visible at the left edge of the frame, remaining empty and stationary without contacting any object. | Right hand: release: Right hand opens its fingers to release the grip on the wooden handle of the mallet, separating from the handle."}, {"label": "subtasks", "start_step": 1118, "end_step": 1139, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand stays partially visible at the left edge of the frame, remaining empty and stationary without contacting any object. | Right hand: idle: Right hand remains empty above the resting mallet on the black mat without moving."}, {"label": "subtasks", "start_step": 1140, "end_step": 1184, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand stays partially visible at the left edge of the frame, remaining empty and stationary without contacting any object. | Right hand: retreat: Right hand moves empty in an upward direction away from the mallet on the work mat."}, {"label": "home", "start_step": 1161, "end_step": 1309, "id": "2CwU4ySmZ4h8iXy-Zlcl5"}, {"label": "subtasks", "start_step": 1185, "end_step": 1289, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand stays partially visible at the left edge of the frame, remaining empty and stationary without contacting any object. | Right hand: idle: Right hand remains empty and stationary outside the visible operation area without moving."}, {"label": "subtasks", "start_step": 1290, "end_step": 1309, "id": "reasoning-language-00020", "text": "Left hand: reach_grasp: Left hand enters the frame from the top, moves downward toward the red peg on the wooden peg toy, closes fingers to make contact with the red peg and adjusts contact position slightly. | Right hand: reach_grasp: Right hand enters the frame from the top, moves downward toward the base of the wooden peg toy, closes fingers to make contact with the left edge of the toy base and adjusts contact position slightly."}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 67, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand stays partially visible at the left edge of the frame, remaining empty and stationary without contacting any object. | Right hand: idle: Right hand remains at the top right edge of the frame, empty and without observable movement."}, {"label": "subtasks", "start_step": 68, "end_step": 164, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand stays partially visible at the left edge of the frame, remaining empty and stationary without contacting any object. | Right hand: reach: Right hand moves downward from the top right of the frame toward the wooden handle of the yellow mallet, staying empty while approaching the target."}, {"label": "subtasks", "start_step": 165, "end_step": 307, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand stays partially visible at the left edge of the frame, remaining empty and stationary without contacting any object. | Right hand: grasp: Right hand makes contact with the wooden handle of the yellow mallet, with fingers closing and making small adjustments to establish a stable grip on the handle."}, {"label": "subtasks", "start_step": 308, "end_step": 344, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand stays partially visible at the left edge of the frame, remaining empty and stationary without contacting any object. | Right hand: lift: Right hand holds the wooden handle of the yellow mallet and begins to lift the handle upward from the black supporting surface."}, {"label": "subtasks", "start_step": 345, "end_step": 381, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand stays partially visible at the left edge of the frame, remaining empty and stationary without contacting any object. | Right hand: grasp: Right hand closes its fingers around the wooden mallet handle to tighten and form a stable grip."}, {"label": "subtasks", "start_step": 382, "end_step": 411, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand stays partially visible at the left edge of the frame, remaining empty and stationary without contacting any object. | Right hand: lift: Right hand lifts the grasped wooden mallet upward until the mallet is completely separated from the black supporting surface."}, {"label": "subtasks", "start_step": 412, "end_step": 487, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand stays partially visible at the left edge of the frame, remaining empty and stationary without contacting any object. | Right hand: transport: Right hand carries the lifted wooden mallet leftward toward the area above the wooden peg platform."}, {"label": "subtasks", "start_step": 488, "end_step": 561, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand stays partially visible at the left edge of the frame, remaining empty and stationary without contacting any object. | Right hand: place: Right hand moves the wooden mallet downward to rest the yellow mallet head on the wooden peg platform until the mallet is supported by the platform."}, {"label": "subtasks", "start_step": 562, "end_step": 584, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand stays partially visible at the left edge of the frame, remaining empty and stationary without contacting any object. | Right hand: hold: Right hand holds the wooden mallet handle steadily without movement, with the mallet head supported by the wooden peg platform."}, {"label": "subtasks", "start_step": 585, "end_step": 681, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand stays partially visible at the left edge of the frame, remaining empty and stationary without contacting any object. | Right hand: grasp: Right hand adjusts finger positions to establish a stable grip on the wooden handle of the yellow mallet."}, {"label": "subtasks", "start_step": 682, "end_step": 944, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand stays partially visible at the left edge of the frame, remaining empty and stationary without contacting any object. | Right hand: other:repeated_tapping: Right hand holds the yellow mallet, performing small repeated vertical up-and-down movements to tap the wooden peg on the wooden toy base."}, {"label": "subtasks", "start_step": 945, "end_step": 959, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand stays partially visible at the left edge of the frame, remaining empty and stationary without contacting any object. | Right hand: hold: Right hand holds the yellow wooden mallet inserted in the hole of the wooden platform without movement."}, {"label": "subtasks", "start_step": 960, "end_step": 981, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand stays partially visible at the left edge of the frame, remaining empty and stationary without contacting any object. | Right hand: lift: Right hand lifts the grasped yellow wooden mallet upward, fully detaching it from the wooden platform's surface."}, {"label": "subtasks", "start_step": 982, "end_step": 1034, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand stays partially visible at the left edge of the frame, remaining empty and stationary without contacting any object. | Right hand: transport_place: Right hand transports the grasped yellow wooden mallet rightward across the black mat and lowers it slightly to set its wooden end on the mat surface."}, {"label": "subtasks", "start_step": 1035, "end_step": 1101, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand stays partially visible at the left edge of the frame, remaining empty and stationary without contacting any object. | Right hand: hold: Right hand holds the yellow wooden mallet stationary against the rear wall, with its wooden end supported by the black mat."}, {"label": "subtasks", "start_step": 1102, "end_step": 1117, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand stays partially visible at the left edge of the frame, remaining empty and stationary without contacting any object. | Right hand: release: Right hand opens its fingers to release the grip on the wooden handle of the mallet, separating from the handle."}, {"label": "subtasks", "start_step": 1118, "end_step": 1139, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand stays partially visible at the left edge of the frame, remaining empty and stationary without contacting any object. | Right hand: idle: Right hand remains empty above the resting mallet on the black mat without moving."}, {"label": "subtasks", "start_step": 1140, "end_step": 1184, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand stays partially visible at the left edge of the frame, remaining empty and stationary without contacting any object. | Right hand: retreat: Right hand moves empty in an upward direction away from the mallet on the work mat."}, {"label": "subtasks", "start_step": 1185, "end_step": 1289, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand stays partially visible at the left edge of the frame, remaining empty and stationary without contacting any object. | Right hand: idle: Right hand remains empty and stationary outside the visible operation area without moving."}, {"label": "subtasks", "start_step": 1290, "end_step": 1309, "id": "reasoning-language-00020", "text": "Left hand: reach_grasp: Left hand enters the frame from the top, moves downward toward the red peg on the wooden peg toy, closes fingers to make contact with the red peg and adjusts contact position slightly. | Right hand: reach_grasp: Right hand enters the frame from the top, moves downward toward the base of the wooden peg toy, closes fingers to make contact with the left edge of the toy base and adjusts contact position slightly."}], "episode_index": 378} +{"source_uid": "fcc92245f968351e", "num_frames": 1001, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Hammer_Nails_v2", "tags": {"task_name": "Hammer_Nails_v2", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "B", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 51, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand does not appear in the visible operation area and remains stationary without contacting any object. | Right hand: idle: Right hand remains empty with no obvious displacement, positioned at the top-right edge of the frame when visible."}, {"label": "valid", "start_step": 0, "end_step": 852, "id": "XugumpCpH-oluC-n9U6D2"}, {"label": "subtasks", "start_step": 52, "end_step": 127, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand does not appear in the visible operation area and remains stationary without contacting any object. | Right hand: reach: Right hand moves down diagonally toward the wooden mallet with a yellow head on the right side of the black mat, fingers slightly open, and does not contact the mallet during this movement."}, {"label": "subtasks", "start_step": 128, "end_step": 224, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand does not appear in the visible operation area and remains stationary without contacting any object. | Right hand: grasp: Right hand contacts the wooden handle of the mallet, adjusts finger and wrist positions, and closes fingers around the handle to establish a grasp."}, {"label": "subtasks", "start_step": 225, "end_step": 277, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand does not appear in the visible operation area and remains stationary without contacting any object. | Right hand: grasp: Right hand adjusts its fingers around the wooden handle of the yellow-headed mallet resting on the black work surface to form a stable grip."}, {"label": "subtasks", "start_step": 278, "end_step": 321, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand does not appear in the visible operation area and remains stationary without contacting any object. | Right hand: lift: Right hand raises the grasped wooden mallet upward until the entire mallet is fully lifted clear of the black work surface."}, {"label": "subtasks", "start_step": 322, "end_step": 397, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand does not appear in the visible operation area and remains stationary without contacting any object. | Right hand: transport: Right hand carries the lifted wooden mallet horizontally left toward the light wooden peg board with green support posts."}, {"label": "subtasks", "start_step": 398, "end_step": 479, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand does not appear in the visible operation area and remains stationary without contacting any object. | Right hand: hold: Right hand holds the wooden mallet stationary above the wooden peg board, with no visible movement of the hand or mallet."}, {"label": "subtasks", "start_step": 480, "end_step": 749, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand does not appear in the visible operation area and remains stationary without contacting any object. | Right hand: other:tapping_with_mallet: Right hand grips the wooden mallet handle and makes small repeated vertical up-and-down movements to tap the wooden peg on the perforated wooden platform."}, {"label": "subtasks", "start_step": 750, "end_step": 801, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand does not appear in the visible operation area and remains stationary without contacting any object. | Right hand: transport: Right hand holds the wooden mallet and moves it horizontally rightward from above the wooden peg toy to the space above the black table to the right of the peg toy."}, {"label": "subtasks", "start_step": 802, "end_step": 817, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand does not appear in the visible operation area and remains stationary without contacting any object. | Right hand: place_release: Right hand lowers the wooden mallet onto the black table surface to the right of the peg toy, releases its grip on the mallet, and the mallet rests steadily on the table."}, {"label": "subtasks", "start_step": 818, "end_step": 884, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand does not appear in the visible operation area and remains stationary without contacting any object. | Right hand: retreat: Right hand stays empty and moves upward away from the placed wooden mallet, retreating toward the upper right of the frame."}, {"label": "home", "start_step": 853, "end_step": 1000, "id": "Xain4SFER9V2N3mnEeDTM"}, {"label": "subtasks", "start_step": 885, "end_step": 1000, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand does not appear in the visible operation area and remains stationary without contacting any object."}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 51, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand does not appear in the visible operation area and remains stationary without contacting any object. | Right hand: idle: Right hand remains empty with no obvious displacement, positioned at the top-right edge of the frame when visible."}, {"label": "subtasks", "start_step": 52, "end_step": 127, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand does not appear in the visible operation area and remains stationary without contacting any object. | Right hand: reach: Right hand moves down diagonally toward the wooden mallet with a yellow head on the right side of the black mat, fingers slightly open, and does not contact the mallet during this movement."}, {"label": "subtasks", "start_step": 128, "end_step": 224, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand does not appear in the visible operation area and remains stationary without contacting any object. | Right hand: grasp: Right hand contacts the wooden handle of the mallet, adjusts finger and wrist positions, and closes fingers around the handle to establish a grasp."}, {"label": "subtasks", "start_step": 225, "end_step": 277, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand does not appear in the visible operation area and remains stationary without contacting any object. | Right hand: grasp: Right hand adjusts its fingers around the wooden handle of the yellow-headed mallet resting on the black work surface to form a stable grip."}, {"label": "subtasks", "start_step": 278, "end_step": 321, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand does not appear in the visible operation area and remains stationary without contacting any object. | Right hand: lift: Right hand raises the grasped wooden mallet upward until the entire mallet is fully lifted clear of the black work surface."}, {"label": "subtasks", "start_step": 322, "end_step": 397, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand does not appear in the visible operation area and remains stationary without contacting any object. | Right hand: transport: Right hand carries the lifted wooden mallet horizontally left toward the light wooden peg board with green support posts."}, {"label": "subtasks", "start_step": 398, "end_step": 479, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand does not appear in the visible operation area and remains stationary without contacting any object. | Right hand: hold: Right hand holds the wooden mallet stationary above the wooden peg board, with no visible movement of the hand or mallet."}, {"label": "subtasks", "start_step": 480, "end_step": 749, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand does not appear in the visible operation area and remains stationary without contacting any object. | Right hand: other:tapping_with_mallet: Right hand grips the wooden mallet handle and makes small repeated vertical up-and-down movements to tap the wooden peg on the perforated wooden platform."}, {"label": "subtasks", "start_step": 750, "end_step": 801, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand does not appear in the visible operation area and remains stationary without contacting any object. | Right hand: transport: Right hand holds the wooden mallet and moves it horizontally rightward from above the wooden peg toy to the space above the black table to the right of the peg toy."}, {"label": "subtasks", "start_step": 802, "end_step": 817, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand does not appear in the visible operation area and remains stationary without contacting any object. | Right hand: place_release: Right hand lowers the wooden mallet onto the black table surface to the right of the peg toy, releases its grip on the mallet, and the mallet rests steadily on the table."}, {"label": "subtasks", "start_step": 818, "end_step": 884, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand does not appear in the visible operation area and remains stationary without contacting any object. | Right hand: retreat: Right hand stays empty and moves upward away from the placed wooden mallet, retreating toward the upper right of the frame."}, {"label": "subtasks", "start_step": 885, "end_step": 1000, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand does not appear in the visible operation area and remains stationary without contacting any object."}], "episode_index": 379} +{"source_uid": "5996749a9280fe75", "num_frames": 907, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Hammer_Nails_v2", "tags": {"task_name": "Hammer_Nails_v2", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "B", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 51, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains at the left edge of the frame, empty and stationary without participating in any operation. | Right hand: idle: Right hand stays at the top-right edge of the frame, empty and stationary without moving toward the target mallet."}, {"label": "valid", "start_step": 0, "end_step": 757, "id": "TBF4yqzBzlyoMqjOVkHVV"}, {"label": "subtasks", "start_step": 52, "end_step": 119, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains at the left edge of the frame, empty and stationary without participating in any operation. | Right hand: reach: Right hand moves downward from the top-right edge toward the wooden handle of the yellow mallet on the black work surface, remaining empty without contacting the mallet."}, {"label": "subtasks", "start_step": 120, "end_step": 224, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains at the left edge of the frame, empty and stationary without participating in any operation. | Right hand: grasp: Right hand makes contact with the wooden handle of the yellow mallet, fingers gradually close around the handle with minor positional adjustments to form a grip, the mallet remains supported by the black work surface."}, {"label": "subtasks", "start_step": 225, "end_step": 247, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains at the left edge of the frame, empty and stationary without participating in any operation. | Right hand: grasp: Right hand adjusts finger positions to close firmly around the wooden mallet handle, forming a stable grip while the mallet rests on the black work surface."}, {"label": "subtasks", "start_step": 248, "end_step": 269, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains at the left edge of the frame, empty and stationary without participating in any operation. | Right hand: lift: Right hand lifts the gripped mallet upward until the mallet's wooden handle fully loses contact with the black work surface."}, {"label": "subtasks", "start_step": 270, "end_step": 314, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains at the left edge of the frame, empty and stationary without participating in any operation. | Right hand: transport: Right hand moves the lifted mallet leftward across the work surface toward the wooden peg toy, positioning the yellow mallet head above the pegs."}, {"label": "subtasks", "start_step": 315, "end_step": 329, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains at the left edge of the frame, empty and stationary without participating in any operation. | Right hand: hold: Right hand holds the mallet steadily above the wooden peg toy without any visible movement of the hand or mallet."}, {"label": "subtasks", "start_step": 330, "end_step": 427, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains at the left edge of the frame, empty and stationary without participating in any operation. | Right hand: grasp: Right hand adjusts its grip on the wooden mallet handle, with fingers slightly moving to reposition and tighten contact with the handle."}, {"label": "subtasks", "start_step": 428, "end_step": 674, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains at the left edge of the frame, empty and stationary without participating in any operation. | Right hand: other:repeated_small_downward_tap: Right hand holds the wooden mallet and performs repeated small downward tapping motions on the peg inserted in the wooden perforated board, moving the mallet in short vertical up-and-down motions."}, {"label": "subtasks", "start_step": 675, "end_step": 711, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains at the left edge of the frame, empty and stationary without participating in any operation. | Right hand: transport: Right hand holds the wooden mallet, moving it rightward and slightly downward across the area beside the wooden peg toy toward the target placement position."}, {"label": "subtasks", "start_step": 712, "end_step": 741, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains at the left edge of the frame, empty and stationary without participating in any operation. | Right hand: place_release: Right hand lowers the wooden mallet to the black mat surface, adjusts the mallet to rest stably horizontally on the mat, with fingers opening to release contact with the mallet handle."}, {"label": "subtasks", "start_step": 742, "end_step": 779, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains at the left edge of the frame, empty and stationary without participating in any operation. | Right hand: retreat: Right hand moves in an empty state upward and rightward away from the placed mallet, retreating from the operation area."}, {"label": "home", "start_step": 758, "end_step": 906, "id": "iw0bgDvHycCJQvvH5XxmA"}, {"label": "subtasks", "start_step": 780, "end_step": 906, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains at the left edge of the frame, empty and stationary without participating in any operation."}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 51, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains at the left edge of the frame, empty and stationary without participating in any operation. | Right hand: idle: Right hand stays at the top-right edge of the frame, empty and stationary without moving toward the target mallet."}, {"label": "subtasks", "start_step": 52, "end_step": 119, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains at the left edge of the frame, empty and stationary without participating in any operation. | Right hand: reach: Right hand moves downward from the top-right edge toward the wooden handle of the yellow mallet on the black work surface, remaining empty without contacting the mallet."}, {"label": "subtasks", "start_step": 120, "end_step": 224, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains at the left edge of the frame, empty and stationary without participating in any operation. | Right hand: grasp: Right hand makes contact with the wooden handle of the yellow mallet, fingers gradually close around the handle with minor positional adjustments to form a grip, the mallet remains supported by the black work surface."}, {"label": "subtasks", "start_step": 225, "end_step": 247, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains at the left edge of the frame, empty and stationary without participating in any operation. | Right hand: grasp: Right hand adjusts finger positions to close firmly around the wooden mallet handle, forming a stable grip while the mallet rests on the black work surface."}, {"label": "subtasks", "start_step": 248, "end_step": 269, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains at the left edge of the frame, empty and stationary without participating in any operation. | Right hand: lift: Right hand lifts the gripped mallet upward until the mallet's wooden handle fully loses contact with the black work surface."}, {"label": "subtasks", "start_step": 270, "end_step": 314, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains at the left edge of the frame, empty and stationary without participating in any operation. | Right hand: transport: Right hand moves the lifted mallet leftward across the work surface toward the wooden peg toy, positioning the yellow mallet head above the pegs."}, {"label": "subtasks", "start_step": 315, "end_step": 329, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains at the left edge of the frame, empty and stationary without participating in any operation. | Right hand: hold: Right hand holds the mallet steadily above the wooden peg toy without any visible movement of the hand or mallet."}, {"label": "subtasks", "start_step": 330, "end_step": 427, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains at the left edge of the frame, empty and stationary without participating in any operation. | Right hand: grasp: Right hand adjusts its grip on the wooden mallet handle, with fingers slightly moving to reposition and tighten contact with the handle."}, {"label": "subtasks", "start_step": 428, "end_step": 674, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains at the left edge of the frame, empty and stationary without participating in any operation. | Right hand: other:repeated_small_downward_tap: Right hand holds the wooden mallet and performs repeated small downward tapping motions on the peg inserted in the wooden perforated board, moving the mallet in short vertical up-and-down motions."}, {"label": "subtasks", "start_step": 675, "end_step": 711, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains at the left edge of the frame, empty and stationary without participating in any operation. | Right hand: transport: Right hand holds the wooden mallet, moving it rightward and slightly downward across the area beside the wooden peg toy toward the target placement position."}, {"label": "subtasks", "start_step": 712, "end_step": 741, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains at the left edge of the frame, empty and stationary without participating in any operation. | Right hand: place_release: Right hand lowers the wooden mallet to the black mat surface, adjusts the mallet to rest stably horizontally on the mat, with fingers opening to release contact with the mallet handle."}, {"label": "subtasks", "start_step": 742, "end_step": 779, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains at the left edge of the frame, empty and stationary without participating in any operation. | Right hand: retreat: Right hand moves in an empty state upward and rightward away from the placed mallet, retreating from the operation area."}, {"label": "subtasks", "start_step": 780, "end_step": 906, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains at the left edge of the frame, empty and stationary without participating in any operation."}], "episode_index": 380} +{"source_uid": "f27d3236bf651a65", "num_frames": 926, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table.", "tags": {"task_name": "Hammer Nails", "task_instruction": "Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table.", "scene_description": "A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back.", "success_criteria": "Both nails are hammered down securely, and the hammer is placed back stably on the table.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 214, "id": "subtask-001", "text": "Pick up the hammer from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 215, "end_step": 424, "id": "subtask-002", "text": "Hammer down the first nail with the right hand. | Skill: press", "task_skill": "press", "atomic_action": []}, {"label": "subtasks", "start_step": 425, "end_step": 646, "id": "subtask-003", "text": "Hammer down the second nail with the right hand. | Skill: press", "task_skill": "press", "atomic_action": []}, {"label": "subtasks", "start_step": 647, "end_step": 733, "id": "subtask-004", "text": "Place the hammer back on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 214, "id": "subtask-001", "text": "Pick up the hammer from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 215, "end_step": 424, "id": "subtask-002", "text": "Hammer down the first nail with the right hand. | Skill: press", "task_skill": "press", "atomic_action": []}, {"label": "subtasks", "start_step": 425, "end_step": 646, "id": "subtask-003", "text": "Hammer down the second nail with the right hand. | Skill: press", "task_skill": "press", "atomic_action": []}, {"label": "subtasks", "start_step": 647, "end_step": 733, "id": "subtask-004", "text": "Place the hammer back on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData/Hammer_Nails_v2/season_POC22048_2026_05_22_10_21_37_train/POC22048_2026_05_22_20_20_31_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/hammer_nails/season_POC22048_2026_05_22_10_21_37_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 268, "v40_language_source": "previous_published_lerobot", "episode_index": 381} +{"source_uid": "e4f386df139855c0", "num_frames": 818, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table.", "tags": {"task_name": "Hammer Nails", "task_instruction": "Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table.", "scene_description": "A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back.", "success_criteria": "Both nails are hammered down securely, and the hammer is placed back stably on the table.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 213, "id": "subtask-001", "text": "Pick up the hammer from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 214, "end_step": 403, "id": "subtask-002", "text": "Hammer down the first nail with the right hand. | Skill: press", "task_skill": "press", "atomic_action": []}, {"label": "subtasks", "start_step": 404, "end_step": 533, "id": "subtask-003", "text": "Hammer down the second nail with the right hand. | Skill: press", "task_skill": "press", "atomic_action": []}, {"label": "subtasks", "start_step": 534, "end_step": 647, "id": "subtask-004", "text": "Place the hammer back 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"/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData/Hammer_Nails_v2/season_POC22048_2026_05_22_10_21_37_train/POC22048_2026_05_22_20_21_14_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/hammer_nails/season_POC22048_2026_05_22_10_21_37_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 269, "v40_language_source": "previous_published_lerobot", "episode_index": 382} +{"source_uid": "85f8b819e8c8e653", "num_frames": 883, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Hammer_Nails_v2", "tags": {"task_name": "Hammer_Nails_v2", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "B", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 111, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty and stationary at the left edge of the frame throughout the interval. | Right hand: reach: Right hand enters the frame from the top-right corner, moves downward with partially open fingers toward the wooden mallet on the right side of the black work surface, without contacting the mallet."}, {"label": "valid", "start_step": 0, "end_step": 734, "id": "8FqCYblykV_yxckjGRYVS"}, {"label": "subtasks", "start_step": 112, "end_step": 201, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and stationary at the left edge of the frame throughout the interval. | Right hand: grasp: Right hand contacts the wooden mallet handle, adjusts finger positions, and closes fingers around the handle to form a stable grasp, with the mallet resting on the black work surface."}, {"label": "subtasks", "start_step": 202, "end_step": 239, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary at the left edge of the frame throughout the interval. | Right hand: lift: Right hand holds the grasped wooden mallet and moves upward, with the mallet still partially supported by the black work surface at the end of the segment."}, {"label": "subtasks", "start_step": 240, "end_step": 254, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stationary at the left edge of the frame throughout the interval. | Right hand: grasp: Right hand adjusts its fingers around the wooden mallet handle to form a stable grasp, with the mallet resting on the black table surface."}, {"label": "subtasks", "start_step": 255, "end_step": 321, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and stationary at the left edge of the frame throughout the interval. | Right hand: lift_transport: Right hand lifts the grasped mallet completely off the black surface, moving it upward and leftward toward the wooden peg toy."}, {"label": "subtasks", "start_step": 322, "end_step": 367, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary at the left edge of the frame throughout the interval. | Right hand: hold: Right hand holds the wooden mallet steadily above the wooden peg toy without any visible movement."}, {"label": "subtasks", "start_step": 368, "end_step": 381, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary at the left edge of the frame throughout the interval. | Right hand: grasp: Right hand adjusts finger positions on the wooden mallet handle to establish a stable grip."}, {"label": "subtasks", "start_step": 382, "end_step": 397, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary at the left edge of the frame throughout the interval. | Right hand: lift: Right hand lifts the wooden mallet upward, raising the yellow mallet head completely away from the surface of the wooden peg board."}, {"label": "subtasks", "start_step": 398, "end_step": 441, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stationary at the left edge of the frame throughout the interval. | Right hand: transport_mate: Right hand moves the wooden mallet horizontally to position the yellow mallet head directly above the target peg, aligning the mallet vertically with the peg."}, {"label": "subtasks", "start_step": 442, "end_step": 599, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stationary at the left edge of the frame throughout the interval. | Right hand: press: Right hand presses the wooden mallet vertically downward, applying continuous force to push the yellow mallet head against the target peg on the wooden board."}, {"label": "subtasks", "start_step": 600, "end_step": 629, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stationary at the left edge of the frame throughout the interval. | Right hand: lift: Right hand firmly grasps the wooden mallet and lifts it upward, fully separating the mallet from the wooden peg board and the black table surface below."}, {"label": "subtasks", "start_step": 630, "end_step": 674, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and stationary at the left edge of the frame throughout the interval. | Right hand: transport: Right hand carries the lifted wooden mallet and moves it horizontally rightward across the black table to the right side of the peg board."}, {"label": "subtasks", "start_step": 675, "end_step": 697, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and stationary at the left edge of the frame throughout the interval. | Right hand: place: Right hand lowers the wooden mallet down to the right-side black table surface, adjusting the mallet to an upright position supported by the table."}, {"label": "subtasks", "start_step": 698, "end_step": 711, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary at the left edge of the frame throughout the interval. | Right hand: release: Right hand opens its fingers to release the wooden mallet, fully separating the hand from the mallet handle."}, {"label": "subtasks", "start_step": 712, "end_step": 734, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary at the left edge of the frame throughout the interval. | Right hand: idle: Right hand remains empty and stationary above the upright wooden mallet with no observable movement."}, {"label": "subtasks", "start_step": 735, "end_step": 779, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and stationary at the left edge of the frame throughout the interval. | Right hand: retreat: Right hand remains empty, moves upward continuously and exits the frame through the top-right edge."}, {"label": "home", "start_step": 735, "end_step": 882, "id": "eux-Q_F_RnTCPMGmQHqkl"}, {"label": "subtasks", "start_step": 780, "end_step": 869, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and stationary at the left edge of the frame throughout the interval."}, {"label": "subtasks", "start_step": 870, "end_step": 882, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary at the left edge of the frame throughout the interval. | Right hand: reach: Right hand enters the frame from the top-right corner, moves diagonally down-left toward the yellow mallet on the black work surface, and approaches the yellow cylindrical head of the mallet with slightly curved fingers."}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 111, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty and stationary at the left edge of the frame throughout the interval. | Right hand: reach: Right hand enters the frame from the top-right corner, moves downward with partially open fingers toward the wooden mallet on the right side of the black work surface, without contacting the mallet."}, {"label": "subtasks", "start_step": 112, "end_step": 201, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and stationary at the left edge of the frame throughout the interval. | Right hand: grasp: Right hand contacts the wooden mallet handle, adjusts finger positions, and closes fingers around the handle to form a stable grasp, with the mallet resting on the black work surface."}, {"label": "subtasks", "start_step": 202, "end_step": 239, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary at the left edge of the frame throughout the interval. | Right hand: lift: Right hand holds the grasped wooden mallet and moves upward, with the mallet still partially supported by the black work surface at the end of the segment."}, {"label": "subtasks", "start_step": 240, "end_step": 254, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stationary at the left edge of the frame throughout the interval. | Right hand: grasp: Right hand adjusts its fingers around the wooden mallet handle to form a stable grasp, with the mallet resting on the black table surface."}, {"label": "subtasks", "start_step": 255, "end_step": 321, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and stationary at the left edge of the frame throughout the interval. | Right hand: lift_transport: Right hand lifts the grasped mallet completely off the black surface, moving it upward and leftward toward the wooden peg toy."}, {"label": "subtasks", "start_step": 322, "end_step": 367, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary at the left edge of the frame throughout the interval. | Right hand: hold: Right hand holds the wooden mallet steadily above the wooden peg toy without any visible movement."}, {"label": "subtasks", "start_step": 368, "end_step": 381, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary at the left edge of the frame throughout the interval. | Right hand: grasp: Right hand adjusts finger positions on the wooden mallet handle to establish a stable grip."}, {"label": "subtasks", "start_step": 382, "end_step": 397, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary at the left edge of the frame throughout the interval. | Right hand: lift: Right hand lifts the wooden mallet upward, raising the yellow mallet head completely away from the surface of the wooden peg board."}, {"label": "subtasks", "start_step": 398, "end_step": 441, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stationary at the left edge of the frame throughout the interval. | Right hand: transport_mate: Right hand moves the wooden mallet horizontally to position the yellow mallet head directly above the target peg, aligning the mallet vertically with the peg."}, {"label": "subtasks", "start_step": 442, "end_step": 599, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stationary at the left edge of the frame throughout the interval. | Right hand: press: Right hand presses the wooden mallet vertically downward, applying continuous force to push the yellow mallet head against the target peg on the wooden board."}, {"label": "subtasks", "start_step": 600, "end_step": 629, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stationary at the left edge of the frame throughout the interval. | Right hand: lift: Right hand firmly grasps the wooden mallet and lifts it upward, fully separating the mallet from the wooden peg board and the black table surface below."}, {"label": "subtasks", "start_step": 630, "end_step": 674, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and stationary at the left edge of the frame throughout the interval. | Right hand: transport: Right hand carries the lifted wooden mallet and moves it horizontally rightward across the black table to the right side of the peg board."}, {"label": "subtasks", "start_step": 675, "end_step": 697, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and stationary at the left edge of the frame throughout the interval. | Right hand: place: Right hand lowers the wooden mallet down to the right-side black table surface, adjusting the mallet to an upright position supported by the table."}, {"label": "subtasks", "start_step": 698, "end_step": 711, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary at the left edge of the frame throughout the interval. | Right hand: release: Right hand opens its fingers to release the wooden mallet, fully separating the hand from the mallet handle."}, {"label": "subtasks", "start_step": 712, "end_step": 734, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary at the left edge of the frame throughout the interval. | Right hand: idle: Right hand remains empty and stationary above the upright wooden mallet with no observable movement."}, {"label": "subtasks", "start_step": 735, "end_step": 779, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and stationary at the left edge of the frame throughout the interval. | Right hand: retreat: Right hand remains empty, moves upward continuously and exits the frame through the top-right edge."}, {"label": "subtasks", "start_step": 780, "end_step": 869, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and stationary at the left edge of the frame throughout the interval."}, {"label": "subtasks", "start_step": 870, "end_step": 882, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary at the left edge of the frame throughout the interval. | Right hand: reach: Right hand enters the frame from the top-right corner, moves diagonally down-left toward the yellow mallet on the black work surface, and approaches the yellow cylindrical head of the mallet with slightly curved fingers."}], "episode_index": 383} +{"source_uid": "2d2adf058c1abb90", "num_frames": 926, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Hammer_Nails_v2", "tags": {"task_name": "Hammer_Nails_v2", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "B", "SOP": ""}, "segments": [{"label": "valid", "start_step": 0, "end_step": 776, "id": "qRZLL2JA2iMAeNipxP4uq"}, {"label": "subtasks", "start_step": 75, "end_step": 111, "id": "reasoning-language-00001", "text": "Right hand: reach: Right hand moves left from the right edge of the frame toward the wooden handle of the yellow hammer, without contacting the hammer."}, {"label": "subtasks", "start_step": 112, "end_step": 209, "id": "reasoning-language-00002", "text": "Right hand: grasp: Right hand touches the wooden handle of the yellow hammer, and adjusts its fingers to form a stable grasp on the handle."}, {"label": "subtasks", "start_step": 210, "end_step": 247, "id": "reasoning-language-00003", "text": "Right hand: grasp: Right hand adjusts its fingers to form a stable grasp on the yellow hammer with wooden handle placed on the black mat."}, {"label": "subtasks", "start_step": 248, "end_step": 261, "id": "reasoning-language-00004", "text": "Right hand: lift: Right hand lifts the yellow hammer up to make it completely leave the black mat surface."}, {"label": "subtasks", "start_step": 262, "end_step": 314, "id": "reasoning-language-00005", "text": "Right hand: transport: Right hand transports the yellow hammer leftwards to the position above the red peg on the wooden board."}, {"label": "subtasks", "start_step": 315, "end_step": 359, "id": "reasoning-language-00006", "text": "Right hand: press: Right hand presses the red peg on the wooden board with the yellow hammer."}, {"label": "subtasks", "start_step": 360, "end_step": 441, "id": "reasoning-language-00007", "text": "Right hand: hold: Right hand holds the yellow hammer stationary above the wooden board."}, {"label": "subtasks", "start_step": 442, "end_step": 509, "id": "reasoning-language-00008", "text": "Right hand: press: Right hand presses the red peg on the wooden board with the yellow hammer."}, {"label": "subtasks", "start_step": 510, "end_step": 591, "id": "reasoning-language-00009", "text": "Right hand: hold: Right hand holds the yellow hammer stationary above the wooden board."}, {"label": "subtasks", "start_step": 592, "end_step": 651, "id": "reasoning-language-00010", "text": "Right hand: press: Right hand presses the red peg on the wooden board with the yellow hammer."}, {"label": "subtasks", "start_step": 652, "end_step": 674, "id": "reasoning-language-00011", "text": "Right hand: transport: Right hand moves the yellow hammer away from the wooden board."}, {"label": "subtasks", "start_step": 675, "end_step": 741, "id": "reasoning-language-00012", "text": "Right hand: transport: Right hand transports the yellow hammer with wooden handle towards the right side of the black mat."}, {"label": "subtasks", "start_step": 742, "end_step": 757, "id": "reasoning-language-00013", "text": "Right hand: place_release: Right hand places the yellow hammer on the right side of the black mat and releases the grip of the hammer handle."}, {"label": "subtasks", "start_step": 758, "end_step": 764, "id": "reasoning-language-00014", "text": "Right hand: retreat: Right hand retreats away from the placed yellow hammer."}, {"label": "home", "start_step": 777, "end_step": 925, "id": "3amNSVRl6rId8ljz28WdA"}], "language_segments": [{"label": "subtasks", "start_step": 75, "end_step": 111, "id": "reasoning-language-00001", "text": "Right hand: reach: Right hand moves left from the right edge of the frame toward the wooden handle of the yellow hammer, without contacting the hammer."}, {"label": "subtasks", "start_step": 112, "end_step": 209, "id": "reasoning-language-00002", "text": "Right hand: grasp: Right hand touches the wooden handle of the yellow hammer, and adjusts its fingers to form a stable grasp on the handle."}, {"label": "subtasks", "start_step": 210, "end_step": 247, "id": "reasoning-language-00003", "text": "Right hand: grasp: Right hand adjusts its fingers to form a stable grasp on the yellow hammer with wooden handle placed on the black mat."}, {"label": "subtasks", "start_step": 248, "end_step": 261, "id": "reasoning-language-00004", "text": "Right hand: lift: Right hand lifts the yellow hammer up to make it completely leave the black mat surface."}, {"label": "subtasks", "start_step": 262, "end_step": 314, "id": "reasoning-language-00005", "text": "Right hand: transport: Right hand transports the yellow 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"text": "Right hand: hold: Right hand holds the yellow-headed mallet steady above the red peg on the wooden peg board without moving."}, {"label": "subtasks", "start_step": 532, "end_step": 591, "id": "reasoning-language-00012", "text": "Right hand: grasp: Right hand adjusts its grasp on the wooden handle of the yellow-headed mallet while the mallet remains above the red peg."}, {"label": "subtasks", "start_step": 592, "end_step": 629, "id": "reasoning-language-00013", "text": "Right hand: hold: Right hand holds the yellow-headed mallet steady above the red peg on the wooden peg board without moving."}, {"label": "subtasks", "start_step": 630, "end_step": 659, "id": "reasoning-language-00014", "text": "Right hand: transport: Right hand moves the yellow-headed mallet rightward away from the position above the red peg."}, {"label": "subtasks", "start_step": 660, "end_step": 704, "id": "reasoning-language-00015", "text": "Right hand: pull: Right hand pulls the yellow-headed mallet 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"reasoning-language-00018", "text": "Right hand: retreat: Right hand, which is empty, moves up-right toward the right edge of the frame and exits the frame."}], "episode_index": 392} +{"source_uid": "bf442d70c919895c", "num_frames": 857, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Hammer_Nails_v2", "tags": {"task_name": "Hammer_Nails_v2", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "B", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 59, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the far left edge of the frame without any observable movement or contact with other objects. | Right hand: idle: Right hand remains empty at the far upper right edge of the frame without any observable movement."}, {"label": "valid", "start_step": 0, "end_step": 708, "id": "QB56m7edWB_CHGtpHSki_"}, {"label": "subtasks", "start_step": 60, "end_step": 119, "id": 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"reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the far left edge of the frame without any observable movement or contact with other objects. | Right hand: reorient: Right hand rotates the wooden hammer slightly to a vertical orientation and makes small positional adjustments to align the yellow hammer head over the red peg on the wooden board."}, {"label": "subtasks", "start_step": 480, "end_step": 614, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the far left edge of the frame without any observable movement or contact with other objects. | Right hand: hold: Right hand holds the aligned wooden hammer steadily over the red peg without visible movement."}, {"label": "subtasks", "start_step": 615, "end_step": 637, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the far left edge of the frame without any observable movement or contact with other objects. | Right hand: lift: 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"reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the far left edge of the frame without any observable movement or contact with other objects. | Right hand: retreat: Empty right hand moves upward and away from the released hammer toward the upper right of the frame."}, {"label": "subtasks", "start_step": 705, "end_step": 854, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the far left edge of the frame without any observable movement or contact with other objects."}, {"label": "home", "start_step": 709, "end_step": 856, "id": "XPI87aNxYr0CdBXjtEfgX"}, {"label": "subtasks", "start_step": 855, "end_step": 856, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the far left edge of the frame without any observable movement or contact with other objects. | Right hand: reach: Right hand is empty, enters the frame from the top right edge, and moves downward toward the black work surface without contacting any object."}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 59, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the far left edge of the frame without any observable movement or contact with other objects. | Right hand: idle: Right hand remains empty at the far upper right edge of the frame without any observable movement."}, {"label": "subtasks", "start_step": 60, "end_step": 119, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the far left edge of the frame without any observable movement or contact with other objects. | Right hand: reach: Right hand moves diagonally down and left toward the wooden handle of the yellow mallet on the black mat, making no contact with the mallet throughout the movement."}, {"label": "subtasks", "start_step": 120, "end_step": 194, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the far left edge of the frame without any observable movement or contact with other objects. | Right hand: grasp_lift: Right hand closes fingers around the wooden handle of the yellow mallet to form a stable grasp, beginning to lift the mallet slightly while the yellow mallet head remains in contact with the black supporting mat."}, {"label": "subtasks", "start_step": 195, "end_step": 209, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the far left edge of the frame without any observable movement or contact with other objects. | Right hand: hold: Right hand holds the wooden hammer resting on the black work surface without moving."}, {"label": "subtasks", "start_step": 210, "end_step": 239, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the far left edge of the frame without any observable movement or contact with other objects. | Right hand: lift: Right hand lifts the grasped wooden hammer upward until the hammer fully separates from the black work surface."}, {"label": "subtasks", "start_step": 240, "end_step": 299, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the far left edge of the frame without any observable movement or contact with other objects. | Right hand: transport: Right hand carries the lifted wooden hammer leftward toward the area above the wooden peg board."}, {"label": "subtasks", "start_step": 300, "end_step": 479, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the far left edge of the frame without any observable movement or contact with other objects. | Right hand: reorient: Right hand rotates the wooden hammer slightly to a vertical orientation and makes small positional adjustments to align the yellow hammer head over the red peg on the wooden board."}, {"label": "subtasks", "start_step": 480, "end_step": 614, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the far left edge of the frame without any observable movement or contact with other objects. | Right hand: hold: Right hand holds the aligned wooden hammer steadily over the red peg without visible movement."}, {"label": "subtasks", "start_step": 615, "end_step": 637, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the far left edge of the frame without any observable movement or contact with other objects. | Right hand: lift: Right hand grips the light wooden handle of the hammer, lifting the hammer upward until it fully separates from the wooden peg board."}, {"label": "subtasks", "start_step": 638, "end_step": 667, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the far left edge of the frame without any observable movement or contact with other objects. | Right hand: transport: Right hand carries the lifted hammer, moving it horizontally rightward through the air above the black textured work surface."}, {"label": "subtasks", "start_step": 668, "end_step": 681, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the far left edge of the frame without any observable movement or contact with other objects. | Right hand: place_release: Right hand moves the hammer downward toward the black work surface, opening its fingers to release the hammer from its grip."}, {"label": "subtasks", "start_step": 682, "end_step": 704, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the far left edge of the frame without any observable movement or contact with other objects. | Right hand: retreat: Empty right hand moves upward and away from the released hammer toward the upper right of the frame."}, {"label": "subtasks", "start_step": 705, "end_step": 854, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the far left edge of the frame without any observable movement or contact with other objects."}, {"label": "subtasks", "start_step": 855, "end_step": 856, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the far left edge of the frame without any observable movement or contact with other objects. | Right hand: reach: Right hand is empty, enters the frame from the top right edge, and moves downward toward the black work surface without contacting any object."}], "episode_index": 393} +{"source_uid": "9a5bb65618fd9e27", "num_frames": 793, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. 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The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back.", "success_criteria": "Both nails are hammered down securely, and the hammer is placed back stably on the table.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 192, "id": "subtask-001", "text": "Pick up the hammer from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 193, "end_step": 321, "id": "subtask-002", "text": "Hammer down the first nail with the right hand. | Skill: press", "task_skill": "press", "atomic_action": []}, {"label": "subtasks", "start_step": 322, "end_step": 417, "id": "subtask-003", "text": "Hammer down the second nail with the right hand. | Skill: press", "task_skill": "press", "atomic_action": []}, {"label": "subtasks", "start_step": 418, "end_step": 528, "id": "subtask-004", "text": "Place the hammer back on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 192, "id": "subtask-001", "text": "Pick up the hammer from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 193, "end_step": 321, "id": "subtask-002", "text": "Hammer down the first nail with the right hand. | Skill: press", "task_skill": "press", "atomic_action": []}, {"label": "subtasks", "start_step": 322, "end_step": 417, "id": "subtask-003", "text": "Hammer down the second nail with the right hand. | Skill: press", "task_skill": "press", "atomic_action": []}, {"label": "subtasks", "start_step": 418, "end_step": 528, "id": "subtask-004", "text": "Place the hammer back on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData/Hammer_Nails_v2/season_POC22048_2026_05_22_10_21_37_train/POC22048_2026_05_22_21_18_37_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/hammer_nails/season_POC22048_2026_05_22_10_21_37_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 306, "v40_language_source": "previous_published_lerobot", "episode_index": 431} +{"source_uid": "e14622c31906e81d", "num_frames": 792, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Hammer_Nails_v2", "tags": {"task_name": "Hammer_Nails_v2", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "B", "SOP": ""}, "segments": [{"label": "valid", "start_step": 0, "end_step": 642, "id": "DBTWNfpXrpZfADgBAyG7U"}, {"label": "subtasks", "start_step": 15, "end_step": 149, "id": "reasoning-language-00001", "text": "Right hand: reach_grasp: Right hand moves leftward from the right edge of the frame toward the yellow hammer with wooden handle on the black mat and makes contact with the hammer handle to start grasping."}, {"label": "subtasks", "start_step": 150, "end_step": 209, "id": "reasoning-language-00002", "text": "Right hand: grasp: Right hand adjusts its fingers to stably grasp the wooden handle of the yellow mallet on the black mat."}, {"label": "subtasks", "start_step": 210, "end_step": 284, "id": "reasoning-language-00003", "text": "Right hand: lift_transport: Right hand lifts the yellow mallet off the black mat and moves it leftward towards the wooden peg board."}, {"label": "subtasks", "start_step": 285, "end_step": 397, "id": "reasoning-language-00004", "text": "Right hand: grasp: Right hand adjusts its fingers to stably grasp the wooden handle of the yellow mallet."}, {"label": "subtasks", "start_step": 398, "end_step": 524, "id": "reasoning-language-00005", "text": "Right hand: press: Right hand presses the yellow mallet downwards against the green peg on the wooden board to push the peg into the board."}, {"label": "subtasks", "start_step": 525, "end_step": 539, "id": "reasoning-language-00006", "text": "Right hand: lift: Right hand lifts the yellow mallet upwards away from the wooden board."}, {"label": "subtasks", "start_step": 540, "end_step": 599, "id": "reasoning-language-00007", "text": "Right hand: transport: Right hand holds the yellow mallet and moves it rightward above the black table."}, {"label": "subtasks", "start_step": 600, "end_step": 614, "id": "reasoning-language-00008", "text": "Right hand: place: Right hand places the yellow mallet onto the black table surface."}, {"label": "subtasks", "start_step": 615, "end_step": 629, "id": "reasoning-language-00009", "text": "Right hand: release: Right hand releases the yellow mallet with fingers opening."}, {"label": "home", "start_step": 643, "end_step": 791, "id": "NUqTGoHWtSg2pFR-gxmSh"}, {"label": "subtasks", "start_step": 780, "end_step": 791, "id": "reasoning-language-00010", "text": "Right hand: reach: Right hand enters from the right edge of the frame and moves towards the yellow mallet on the black mat."}], "language_segments": [{"label": "subtasks", "start_step": 15, "end_step": 149, "id": "reasoning-language-00001", "text": "Right hand: reach_grasp: Right hand moves leftward from the right edge of the frame toward the yellow hammer with wooden handle on the black mat and makes contact with the hammer handle to start grasping."}, {"label": "subtasks", "start_step": 150, "end_step": 209, "id": "reasoning-language-00002", "text": "Right hand: grasp: Right hand adjusts its fingers to stably grasp the wooden handle of the yellow mallet on the black mat."}, {"label": "subtasks", "start_step": 210, "end_step": 284, "id": "reasoning-language-00003", "text": "Right hand: lift_transport: Right hand lifts the yellow mallet off the black mat and moves it leftward towards the wooden peg board."}, {"label": "subtasks", "start_step": 285, "end_step": 397, "id": "reasoning-language-00004", "text": "Right hand: grasp: Right hand adjusts its fingers to stably grasp the wooden handle of the yellow mallet."}, {"label": "subtasks", "start_step": 398, "end_step": 524, "id": "reasoning-language-00005", "text": "Right hand: press: Right hand presses the yellow mallet downwards against the green peg on the wooden board to push the peg into the board."}, {"label": "subtasks", "start_step": 525, "end_step": 539, "id": "reasoning-language-00006", "text": "Right hand: lift: Right hand lifts the yellow mallet upwards away from the wooden board."}, {"label": "subtasks", "start_step": 540, "end_step": 599, "id": "reasoning-language-00007", "text": "Right hand: transport: Right hand holds the yellow mallet and moves it rightward above the black table."}, {"label": "subtasks", "start_step": 600, "end_step": 614, "id": "reasoning-language-00008", "text": "Right hand: place: Right hand places the yellow mallet onto the black table surface."}, {"label": "subtasks", "start_step": 615, "end_step": 629, "id": "reasoning-language-00009", "text": "Right hand: release: Right hand releases the yellow mallet with fingers opening."}, {"label": "subtasks", "start_step": 780, "end_step": 791, "id": "reasoning-language-00010", "text": "Right hand: reach: Right hand enters from the right edge of the frame and moves towards the yellow mallet on the black mat."}], "episode_index": 432} +{"source_uid": "be0e4c08a0b9420f", "num_frames": 995, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Hammer_Nails_v2", "tags": {"task_name": "Hammer_Nails_v2", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "B", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 74, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame, with only its silver fingertips visible and no observable movement throughout the segment. | Right hand: idle: Right hand remains empty at the top-right edge of the frame without observable movement."}, {"label": "valid", "start_step": 0, "end_step": 845, "id": "bdw_NS96QvM_OlhnfBdj0"}, {"label": "subtasks", "start_step": 75, "end_step": 149, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame, with only its silver fingertips visible and no observable movement throughout the segment. | Right hand: reach: Right hand moves down and left from the top-right edge with an open hand, approaching the wooden handle of the yellow hammer placed on the black work surface."}, {"label": "subtasks", "start_step": 150, "end_step": 224, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame, with only its silver fingertips visible and no observable movement throughout the segment. | Right hand: grasp: Right hand closes fingers around the wooden handle of the yellow hammer, adjusting finger positions to establish a stable grip on the handle."}, {"label": "subtasks", "start_step": 225, "end_step": 254, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame, with only its silver fingertips visible and no observable movement throughout the segment. | Right hand: lift: Right hand lifts the grasped yellow hammer upward until the entire hammer is completely lifted off the black supporting surface."}, {"label": "subtasks", "start_step": 255, "end_step": 359, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame, with only its silver fingertips visible and no observable movement throughout the segment. | Right hand: transport: Right hand carries the grasped yellow hammer left and upward through the air, moving it to the position above the red peg on the wooden peg toy."}, {"label": "subtasks", "start_step": 360, "end_step": 411, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame, with only its silver fingertips visible and no observable movement throughout the segment. | Right hand: grasp: Right hand adjusts its fingers around the wooden handle of the yellow hammer to form a stable grip."}, {"label": "subtasks", "start_step": 412, "end_step": 749, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame, with only its silver fingertips visible and no observable movement throughout the segment. | Right hand: other:repeated_small_up_and_down_movement: Right hand holds the yellow hammer and makes repeated small vertical up-and-down movements over the wooden platform."}, {"label": "subtasks", "start_step": 750, "end_step": 794, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame, with only its silver fingertips visible and no observable movement throughout the segment. | Right hand: lift_transport: Right hand grips the wooden hammer handle, lifts the hammer fully off the wooden toy assembly, and carries the hammer horizontally rightward through the air toward the black mat to the right of the toy."}, {"label": "subtasks", "start_step": 795, "end_step": 824, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame, with only its silver fingertips visible and no observable movement throughout the segment. | Right hand: place_release: Right hand lowers the wooden hammer onto the black mat surface until the hammer rests stably on the mat, with fingers opening to release contact with the hammer handle as the hammer settles."}, {"label": "subtasks", "start_step": 825, "end_step": 839, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame, with only its silver fingertips visible and no observable movement throughout the segment. | Right hand: retreat: Empty right hand moves upward and away from the placed wooden hammer."}, {"label": "subtasks", "start_step": 840, "end_step": 989, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame, with only its silver fingertips visible and no observable movement throughout the segment."}, {"label": "home", "start_step": 846, "end_step": 994, "id": "7jw1ymVz88XdvRuM2Vcs2"}, {"label": "subtasks", "start_step": 990, "end_step": 994, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame, with only its silver fingertips visible and no observable movement throughout the segment. | Right hand: reach: Right hand enters the frame from the top-right edge and moves downward toward the yellow mallet on the black work surface."}], "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 edge of the frame, with only its silver fingertips visible and no observable movement throughout the segment. | Right hand: idle: Right hand remains empty at the top-right edge of the frame without observable movement."}, {"label": "subtasks", "start_step": 75, "end_step": 149, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame, with only its silver fingertips visible and no observable movement throughout the segment. | Right hand: reach: Right hand moves down and left from the top-right edge with an open hand, approaching the wooden handle of the yellow hammer placed on the black work surface."}, {"label": "subtasks", "start_step": 150, "end_step": 224, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame, with only its silver fingertips visible and no observable movement throughout the segment. | Right hand: grasp: Right hand closes fingers around the wooden handle of the yellow hammer, adjusting finger positions to establish a stable grip on the handle."}, {"label": "subtasks", "start_step": 225, "end_step": 254, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame, with only its silver fingertips visible and no observable movement throughout the segment. | Right hand: lift: Right hand lifts the grasped yellow hammer upward until the entire hammer is completely lifted off the black supporting surface."}, {"label": "subtasks", "start_step": 255, "end_step": 359, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame, with only its silver fingertips visible and no observable movement throughout the segment. | Right hand: transport: Right hand carries the grasped yellow hammer left and upward through the air, moving it to the position above the red peg on the wooden peg toy."}, {"label": "subtasks", "start_step": 360, "end_step": 411, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame, with only its silver fingertips visible and no observable movement throughout the segment. | Right hand: grasp: Right hand adjusts its fingers around the wooden handle of the yellow hammer to form a stable grip."}, {"label": "subtasks", "start_step": 412, "end_step": 749, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame, with only its silver fingertips visible and no observable movement throughout the segment. | Right hand: other:repeated_small_up_and_down_movement: Right hand holds the yellow hammer and makes repeated small vertical up-and-down movements over the wooden platform."}, {"label": "subtasks", "start_step": 750, "end_step": 794, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame, with only its silver fingertips visible and no observable movement throughout the segment. | Right hand: lift_transport: Right hand grips the wooden hammer handle, lifts the hammer fully off the wooden toy assembly, and carries the hammer horizontally rightward through the air toward the black mat to the right of the toy."}, {"label": "subtasks", "start_step": 795, "end_step": 824, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame, with only its silver fingertips visible and no observable movement throughout the segment. | Right hand: place_release: Right hand lowers the wooden hammer onto the black mat surface until the hammer rests stably on the mat, with fingers opening to release contact with the hammer handle as the hammer settles."}, {"label": "subtasks", "start_step": 825, "end_step": 839, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame, with only its silver fingertips visible and no observable movement throughout the segment. | Right hand: retreat: Empty right hand moves upward and away from the placed wooden hammer."}, {"label": "subtasks", "start_step": 840, "end_step": 989, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame, with only its silver fingertips visible and no observable movement throughout the segment."}, {"label": "subtasks", "start_step": 990, "end_step": 994, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame, with only its silver fingertips visible and no observable movement throughout the segment. | Right hand: reach: Right hand enters the frame from the top-right edge and moves downward toward the yellow mallet on the black work surface."}], "episode_index": 433} +{"source_uid": "358c7d8f41b486ed", "num_frames": 837, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Hammer_Nails_v2", "tags": {"task_name": "Hammer_Nails_v2", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "B", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 119, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains partially visible at the far left edge of the frame, empty and stationary without contacting any operated object. | Right hand: reach: Right hand moves downward from the top-right edge of the frame toward the wooden handle of the yellow mallet, with fingers held slightly open, remaining empty and not making contact with the mallet."}, {"label": "valid", "start_step": 0, "end_step": 686, "id": "1GJ6mZDysjhMQvsfnt25I"}, {"label": "subtasks", "start_step": 120, "end_step": 187, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains partially visible at the far left edge of the frame, empty and stationary without contacting any operated object. | Right hand: grasp: Right hand makes contact with the wooden handle of the yellow mallet, closing fingers around the handle and making small adjustments to finger positions to form a stable grip, with the mallet still resting on the black work surface."}, {"label": "subtasks", "start_step": 188, "end_step": 209, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains partially visible at the far left edge of the frame, empty and stationary without contacting any operated object. | Right hand: hold: Right hand holds the wooden handle of the yellow mallet in a stable grip, with no visible movement of the hand, fingers, or mallet, and the mallet remaining supported by the black work surface."}, {"label": "subtasks", "start_step": 210, "end_step": 291, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains partially visible at the far left edge of the frame, empty and stationary without contacting any operated object. | Right hand: lift_transport: Right hand firmly grips the wooden handle of the yellow-headed mallet, lifts the mallet completely off the black work surface, and moves it leftward toward the central wooden peg board."}, {"label": "subtasks", "start_step": 292, "end_step": 314, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains partially visible at the far left edge of the frame, empty and stationary without contacting any operated object. | Right hand: hold: Right hand holds the yellow-headed mallet steady above the wooden peg board, with no observable movement of the hand, fingers or the mallet."}, {"label": "subtasks", "start_step": 315, "end_step": 411, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains partially visible at the far left edge of the frame, empty and stationary without contacting any operated object. | Right hand: grasp: Right hand adjusts finger positions and tightens contact around the wooden mallet handle to establish a stable grip on the mallet resting on the wooden peg board."}, {"label": "subtasks", "start_step": 412, "end_step": 441, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains partially visible at the far left edge of the frame, empty and stationary without contacting any operated object. | Right hand: lift: Right hand lifts the grasped wooden mallet upward, raising the yellow mallet head completely off the green peg on the wooden board."}, {"label": "subtasks", "start_step": 442, "end_step": 569, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains partially visible at the far left edge of the frame, empty and stationary without contacting any operated object. | Right hand: transport_press: Right hand moves the grasped wooden mallet downward toward the green peg, applying downward pressure on the peg with the yellow mallet head upon contact."}, {"label": "subtasks", "start_step": 570, "end_step": 584, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains partially visible at the far left edge of the frame, empty and stationary without contacting any operated object. | Right hand: lift: Right hand grips the wooden mallet and lifts it upward until the mallet is fully separated from the wooden toy base."}, {"label": "subtasks", "start_step": 585, "end_step": 607, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains partially visible at the far left edge of the frame, empty and stationary without contacting any operated object. | Right hand: transport: Right hand carries the lifted wooden mallet horizontally rightward to the position above the right section of the black table surface."}, {"label": "subtasks", "start_step": 608, "end_step": 644, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains partially visible at the far left edge of the frame, empty and stationary without contacting any operated object. | Right hand: place: Right hand lowers the wooden mallet downward to place it on the black table surface, until the mallet is stably supported by the table."}, {"label": "subtasks", "start_step": 645, "end_step": 659, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains partially visible at the far left edge of the frame, empty and stationary without contacting any operated object. | Right hand: release: Right hand opens its fingers to release the wooden mallet resting on the table, separating the hand from the mallet surface."}, {"label": "subtasks", "start_step": 660, "end_step": 704, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains partially visible at the far left edge of the frame, empty and stationary without contacting any operated object. | Right hand: release_retreat: Right hand releases the wooden mallet handle and moves upward toward the top-right edge of the frame."}, {"label": "home", "start_step": 687, "end_step": 836, "id": "x_kQCmzf1LQIelEpZdomJ"}, {"label": "subtasks", "start_step": 705, "end_step": 824, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains partially visible at the far left edge of the frame, empty and stationary without contacting any operated object. | Right hand: idle: Right hand remains empty and stationary after exiting the top-right edge of the visible frame."}, {"label": "subtasks", "start_step": 825, "end_step": 836, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains partially visible at the far left edge of the frame, empty and stationary without contacting any operated object. | Right hand: reach: Right hand enters the frame from the top-right edge, moving downward toward the yellow wooden mallet with an open hand."}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 119, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains partially visible at the far left edge of the frame, empty and stationary without contacting any operated object. | Right hand: reach: Right hand moves downward from the top-right edge of the frame toward the wooden handle of the yellow mallet, with fingers held slightly open, remaining empty and not making contact with the mallet."}, {"label": "subtasks", "start_step": 120, "end_step": 187, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains partially visible at the far left edge of the frame, empty and stationary without contacting any operated object. | Right hand: grasp: Right hand makes contact with the wooden handle of the yellow mallet, closing fingers around the handle and making small adjustments to finger positions to form a stable grip, with the mallet still resting on the black work surface."}, {"label": "subtasks", "start_step": 188, "end_step": 209, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains partially visible at the far left edge of the frame, empty and stationary without contacting any operated object. | Right hand: hold: Right hand holds the wooden handle of the yellow mallet in a stable grip, with no visible movement of the hand, fingers, or mallet, and the mallet remaining supported by the black work surface."}, {"label": "subtasks", "start_step": 210, "end_step": 291, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains partially visible at the far left edge of the frame, empty and stationary without contacting any operated object. | Right hand: lift_transport: Right hand firmly grips the wooden handle of the yellow-headed mallet, lifts the mallet completely off the black work surface, and moves it leftward toward the central wooden peg board."}, {"label": "subtasks", "start_step": 292, "end_step": 314, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains partially visible at the far left edge of the frame, empty and stationary without contacting any operated object. | Right hand: hold: Right hand holds the yellow-headed mallet steady above the wooden peg board, with no observable movement of the hand, fingers or the mallet."}, {"label": "subtasks", "start_step": 315, "end_step": 411, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains partially visible at the far left edge of the frame, empty and stationary without contacting any operated object. | Right hand: grasp: Right hand adjusts finger positions and tightens contact around the wooden mallet handle to establish a stable grip on the mallet resting on the wooden peg board."}, {"label": "subtasks", "start_step": 412, "end_step": 441, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains partially visible at the far left edge of the frame, empty and stationary without contacting any operated object. | Right hand: lift: Right hand lifts the grasped wooden mallet upward, raising the yellow mallet head completely off the green peg on the wooden board."}, {"label": "subtasks", "start_step": 442, "end_step": 569, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains partially visible at the far left edge of the frame, empty and stationary without contacting any operated object. | Right hand: transport_press: Right hand moves the grasped wooden mallet downward toward the green peg, applying downward pressure on the peg with the yellow mallet head upon contact."}, {"label": "subtasks", "start_step": 570, "end_step": 584, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains partially visible at the far left edge of the frame, empty and stationary without contacting any operated object. | Right hand: lift: Right hand grips the wooden mallet and lifts it upward until the mallet is fully separated from the wooden toy base."}, {"label": "subtasks", "start_step": 585, "end_step": 607, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains partially visible at the far left edge of the frame, empty and stationary without contacting any operated object. | Right hand: transport: Right hand carries the lifted wooden mallet horizontally rightward to the position above the right section of the black table surface."}, {"label": "subtasks", "start_step": 608, "end_step": 644, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains partially visible at the far left edge of the frame, empty and stationary without contacting any operated object. | Right hand: place: Right hand lowers the wooden mallet downward to place it on the black table surface, until the mallet is stably supported by the table."}, {"label": "subtasks", "start_step": 645, "end_step": 659, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains partially visible at the far left edge of the frame, empty and stationary without contacting any operated object. | Right hand: release: Right hand opens its fingers to release the wooden mallet resting on the table, separating the hand from the mallet surface."}, {"label": "subtasks", "start_step": 660, "end_step": 704, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains partially visible at the far left edge of the frame, empty and stationary without contacting any operated object. | Right hand: release_retreat: Right hand releases the wooden mallet handle and moves upward toward the top-right edge of the frame."}, {"label": "subtasks", "start_step": 705, "end_step": 824, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains partially visible at the far left edge of the frame, empty and stationary without contacting any operated object. | Right hand: idle: Right hand remains empty and stationary after exiting the top-right edge of the visible frame."}, {"label": "subtasks", "start_step": 825, "end_step": 836, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains partially visible at the far left edge of the frame, empty and stationary without contacting any operated object. | Right hand: reach: Right hand enters the frame from the top-right edge, moving downward toward the yellow wooden mallet with an open hand."}], "episode_index": 434} +{"source_uid": "d1046c0146c26be9", "num_frames": 828, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. 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upward and forward to align the mallet head directly over the red peg on the wooden toy base."}, {"label": "subtasks", "start_step": 420, "end_step": 441, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without observable movement. | Right hand: hold: Right hand holds the wooden mallet completely stationary with the mallet head positioned above the red peg."}, {"label": "subtasks", "start_step": 442, "end_step": 471, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without observable movement. | Right hand: press: Right hand moves the wooden mallet vertically downward, pressing the mallet head against the red peg to push it partially into the wooden toy base."}, {"label": "subtasks", "start_step": 472, "end_step": 494, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without observable 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movement."}, {"label": "subtasks", "start_step": 60, "end_step": 119, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without observable movement. | Right hand: reach: Right hand moves downward toward the wooden handle of the yellow hammer, remaining empty as it approaches the target."}, {"label": "subtasks", "start_step": 120, "end_step": 179, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without observable movement. | Right hand: grasp: Right hand closes fingers around the wooden handle of the yellow hammer, adjusting finger positions to establish a grip on the handle."}, {"label": "subtasks", "start_step": 180, "end_step": 224, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without observable movement. | Right hand: grasp: Right hand adjusts its fingers to close around the wooden 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Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table.", "tags": {"task_name": "Hammer Nails", "task_instruction": "Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table.", "scene_description": "A hammer and two nails are placed on the table. 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Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table.", "tags": {"task_name": "Hammer Nails", "task_instruction": "Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table.", "scene_description": "A hammer and two nails are placed on the table. 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"/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData/Hammer_Nails_v2/season_POC22048_2026_05_22_10_21_37_train/POC22048_2026_05_22_21_44_11_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/hammer_nails/season_POC22048_2026_05_22_10_21_37_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 326, "v40_language_source": "previous_published_lerobot", "episode_index": 458} +{"source_uid": "fcf357927610470d", "num_frames": 969, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Hammer_Nails_v2", "tags": {"task_name": "Hammer_Nails_v2", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "B", "SOP": ""}, "segments": [{"label": "valid", "start_step": 0, "end_step": 820, "id": "gc_C9_t2FdRAos--9AEaB"}, {"label": "subtasks", "start_step": 15, "end_step": 111, "id": "reasoning-language-00001", "text": "Right hand: reach: Right hand moves downward and left from the top right of the frame towards the yellow hammer on the black mat."}, {"label": "subtasks", "start_step": 112, "end_step": 284, "id": "reasoning-language-00002", "text": "Right hand: grasp: Right hand adjusts its fingers and position to grasp the wooden handle of the yellow hammer, with fingers closing around the handle to form stable grip."}, {"label": "subtasks", "start_step": 285, "end_step": 314, "id": "reasoning-language-00003", "text": "Right hand: grasp: Right hand grasps the wooden handle of the yellow hammer on the black mat."}, {"label": "subtasks", "start_step": 315, "end_step": 367, "id": "reasoning-language-00004", "text": "Right hand: lift: Right hand lifts the yellow hammer up from the black mat."}, {"label": "subtasks", "start_step": 368, "end_step": 419, "id": "reasoning-language-00005", "text": "Right hand: transport: Right hand moves the yellow hammer above the red peg on the center of the wooden board."}, {"label": "subtasks", "start_step": 420, "end_step": 734, "id": "reasoning-language-00006", "text": "Right hand: press: Right hand presses the red peg on the wooden board with the yellow hammer."}, {"label": "subtasks", "start_step": 735, "end_step": 779, "id": "reasoning-language-00007", "text": "Right hand: transport: Right hand transports the yellow-headed hammer away from the pegboard towards the right side."}, {"label": "subtasks", "start_step": 780, "end_step": 794, "id": "reasoning-language-00008", "text": "Right hand: place_release: Right hand places the yellow-headed hammer onto the black table surface and releases its grip on the hammer handle."}, {"label": "subtasks", "start_step": 795, "end_step": 839, "id": "reasoning-language-00009", "text": "Right hand: retreat: Right hand retreats towards the upper right direction away from the placed hammer."}, {"label": "home", "start_step": 821, "end_step": 968, "id": "AZhhM9KunvhO_O4lhujx4"}], "language_segments": [{"label": "subtasks", "start_step": 15, "end_step": 111, "id": "reasoning-language-00001", "text": "Right hand: reach: Right hand moves downward and left from the top right of the frame towards the yellow hammer on the black mat."}, {"label": "subtasks", "start_step": 112, "end_step": 284, "id": "reasoning-language-00002", "text": "Right hand: grasp: Right hand adjusts its fingers and position to grasp the wooden handle of the yellow hammer, with fingers closing around the handle to form stable grip."}, {"label": "subtasks", "start_step": 285, "end_step": 314, "id": "reasoning-language-00003", "text": "Right hand: grasp: Right hand grasps the wooden handle of the yellow hammer on the black mat."}, {"label": "subtasks", "start_step": 315, "end_step": 367, "id": "reasoning-language-00004", "text": "Right hand: lift: Right hand lifts the yellow hammer up from the black mat."}, {"label": "subtasks", "start_step": 368, "end_step": 419, "id": "reasoning-language-00005", "text": "Right hand: transport: Right hand moves the yellow hammer above the red peg on the center of the wooden board."}, {"label": "subtasks", "start_step": 420, "end_step": 734, "id": "reasoning-language-00006", "text": "Right hand: press: Right hand presses the red peg on the wooden board with the yellow hammer."}, {"label": "subtasks", "start_step": 735, "end_step": 779, "id": "reasoning-language-00007", "text": "Right hand: transport: Right hand transports the yellow-headed hammer away from the pegboard towards the right side."}, {"label": "subtasks", "start_step": 780, "end_step": 794, "id": "reasoning-language-00008", "text": "Right hand: place_release: Right hand places the yellow-headed hammer onto the black table surface and releases its grip on the hammer handle."}, {"label": "subtasks", "start_step": 795, "end_step": 839, "id": "reasoning-language-00009", "text": "Right hand: retreat: Right hand retreats towards the upper right direction away from the placed hammer."}], "episode_index": 459} +{"source_uid": "dfa369147a06ea86", "num_frames": 930, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Hammer_Nails_v2", "tags": {"task_name": "Hammer_Nails_v2", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "B", "SOP": ""}, "segments": [{"label": "valid", "start_step": 0, "end_step": 780, "id": "743VGjq8CdfcV93curM4g"}, {"label": "subtasks", "start_step": 75, "end_step": 111, "id": "reasoning-language-00001", "text": "Right hand: reach: Right hand enters from the top-right edge of the frame and moves downward toward the wooden handle of the yellow hammer, staying empty."}, {"label": "subtasks", "start_step": 112, "end_step": 171, "id": "reasoning-language-00002", "text": "Right hand: grasp: Right hand closes fingers around the wooden handle of the yellow hammer, adjusting finger positions to establish contact with the handle that rests on the black mat."}, {"label": "subtasks", "start_step": 172, "end_step": 209, "id": "reasoning-language-00003", "text": "Right hand: lift: Right hand grips the wooden handle of the yellow hammer and moves upward, lifting the yellow hammer head partially off the black mat while the lower end of the handle remains in contact with the mat."}, {"label": "subtasks", "start_step": 210, "end_step": 254, "id": "reasoning-language-00004", "text": "Right hand: lift: Right hand lifts the grasped wooden mallet upward from the black work mat, with the yellow mallet head facing left initially, and the mallet fully separates from the mat surface by the end of the motion."}, {"label": "subtasks", "start_step": 255, "end_step": 299, "id": "reasoning-language-00005", "text": "Right hand: transport: Right hand carries the lifted wooden mallet toward the central wooden peg toy, rotating the mallet about a quarter turn to point the yellow mallet head downward as it moves."}, {"label": "subtasks", "start_step": 300, "end_step": 314, "id": "reasoning-language-00006", "text": "Right hand: hold: Right hand holds the wooden mallet stationary with the yellow mallet head facing downward, positioned above the wooden peg toy."}, {"label": "subtasks", "start_step": 315, "end_step": 501, "id": "reasoning-language-00007", "text": "Right hand: grasp: Right hand makes slight positional and rotational adjustments to fingers and wrist while contacting the wooden mallet handle, refining its grip on the handle."}, {"label": "subtasks", "start_step": 502, "end_step": 637, "id": "reasoning-language-00008", "text": "Right hand: hold: Right hand holds the wooden mallet handle steadily, with no observable movement of the hand, fingers, wrist or the mallet."}, {"label": "subtasks", "start_step": 638, "end_step": 689, "id": "reasoning-language-00009", "text": "Right hand: grasp: Right hand makes slight positional and rotational adjustments to its wrist and fingers, readjusting its grip on the wooden mallet handle."}, {"label": "subtasks", "start_step": 690, "end_step": 711, "id": "reasoning-language-00010", "text": "Right hand: lift: Right hand grips the wooden mallet, lifts it upward until the mallet is fully raised off the wooden toy structure and the black table surface."}, {"label": "subtasks", "start_step": 712, "end_step": 749, "id": "reasoning-language-00011", "text": "Right hand: transport: Right hand holds the suspended wooden mallet, moves it horizontally rightward across the table toward the right resting position."}, {"label": "subtasks", "start_step": 750, "end_step": 764, "id": "reasoning-language-00012", "text": "Right hand: place_release: Right hand lowers the wooden mallet to the right black table surface, opens fingers to release the mallet so it rests stably on the table."}, {"label": "subtasks", "start_step": 765, "end_step": 809, "id": "reasoning-language-00013", "text": "Right hand: return_home: Right hand moves empty upward and rightward to return to its resting home position at the top right of the frame."}, {"label": "home", "start_step": 781, "end_step": 929, "id": "STieMd1Vg06Yny-_b33kY"}], "language_segments": [{"label": "subtasks", "start_step": 75, "end_step": 111, "id": "reasoning-language-00001", "text": "Right hand: reach: Right hand enters from the top-right edge of the frame and moves downward toward the wooden handle of the yellow hammer, staying empty."}, {"label": "subtasks", "start_step": 112, "end_step": 171, "id": "reasoning-language-00002", "text": "Right hand: grasp: Right hand closes fingers around the wooden handle of the yellow hammer, adjusting finger positions to establish contact with the handle that rests on the black mat."}, {"label": "subtasks", "start_step": 172, "end_step": 209, "id": "reasoning-language-00003", "text": "Right hand: lift: Right hand grips the wooden handle of the yellow hammer and moves upward, lifting the yellow hammer head partially off the black mat while the lower end of the handle remains in contact with the mat."}, {"label": "subtasks", "start_step": 210, "end_step": 254, "id": "reasoning-language-00004", "text": "Right hand: lift: Right hand lifts the grasped wooden mallet upward from the black work mat, with the yellow mallet head facing left initially, and the mallet fully separates from the mat surface by the end of the motion."}, {"label": "subtasks", "start_step": 255, "end_step": 299, "id": "reasoning-language-00005", "text": "Right hand: transport: Right hand carries the lifted wooden mallet toward the central wooden peg toy, rotating the mallet about a quarter turn to point the yellow mallet head downward as it moves."}, {"label": "subtasks", "start_step": 300, "end_step": 314, "id": "reasoning-language-00006", "text": "Right hand: hold: Right hand holds the wooden mallet stationary with the yellow mallet head facing downward, positioned above the wooden peg toy."}, {"label": "subtasks", "start_step": 315, "end_step": 501, "id": "reasoning-language-00007", "text": "Right hand: grasp: Right hand makes slight positional and rotational adjustments to fingers and wrist while contacting the wooden mallet handle, refining its grip on the handle."}, {"label": "subtasks", "start_step": 502, "end_step": 637, "id": "reasoning-language-00008", "text": "Right hand: hold: Right hand holds the wooden mallet handle steadily, with no observable movement of the hand, fingers, wrist or the mallet."}, {"label": "subtasks", "start_step": 638, "end_step": 689, "id": "reasoning-language-00009", "text": "Right hand: grasp: Right hand makes slight positional and rotational adjustments to its wrist and fingers, readjusting its grip on the wooden mallet handle."}, {"label": "subtasks", "start_step": 690, "end_step": 711, "id": "reasoning-language-00010", "text": "Right hand: lift: Right hand grips the wooden mallet, lifts it upward until the mallet is fully raised off the wooden toy structure and the black table surface."}, {"label": "subtasks", "start_step": 712, "end_step": 749, "id": "reasoning-language-00011", "text": "Right hand: transport: Right hand holds the suspended wooden mallet, moves it horizontally rightward across the table toward the right resting position."}, {"label": "subtasks", "start_step": 750, "end_step": 764, "id": "reasoning-language-00012", "text": "Right hand: place_release: Right hand lowers the wooden mallet to the right black table surface, opens fingers to release the mallet so it rests stably on the table."}, {"label": "subtasks", "start_step": 765, "end_step": 809, "id": "reasoning-language-00013", "text": "Right hand: return_home: Right hand moves empty upward and rightward to return to its resting home position at the top right of the frame."}], "episode_index": 460} +{"source_uid": "00cc55895b7e9f5c", "num_frames": 770, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. 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"/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData/Hammer_Nails_v2/season_POC22048_2026_05_22_10_21_37_train/POC22048_2026_05_22_21_46_28_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/hammer_nails/season_POC22048_2026_05_22_10_21_37_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 327, "v40_language_source": "previous_published_lerobot", "episode_index": 461} +{"source_uid": "1fc799e9a9b0bf66", "num_frames": 947, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Hammer_Nails_v2", "tags": {"task_name": "Hammer_Nails_v2", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "B", "SOP": ""}, "segments": [{"label": "valid", "start_step": 0, "end_step": 797, "id": "RzU6os4zD63yeEUNH3mbq"}, {"label": "subtasks", "start_step": 15, "end_step": 134, "id": "reasoning-language-00001", "text": "Right hand: reach: Right hand moves from the upper right of the frame toward the handle of the yellow hammer on the black mat."}, {"label": "subtasks", "start_step": 135, "end_step": 149, "id": "reasoning-language-00002", "text": "Right hand: grasp: Right hand contacts the handle of the yellow hammer and closes fingers to establish grasp."}, {"label": "subtasks", "start_step": 150, "end_step": 217, "id": "reasoning-language-00003", "text": "Right hand: grasp: Right hand adjusts its fingers to form a stable grasp on the wooden handle of the yellow mallet placed on the black mat."}, {"label": "subtasks", "start_step": 218, "end_step": 239, "id": "reasoning-language-00004", "text": "Right hand: lift: Right hand lifts the yellow mallet off the black mat by its wooden handle."}, {"label": "subtasks", "start_step": 240, "end_step": 269, "id": "reasoning-language-00005", "text": "Right hand: transport: Right hand moves the grasped yellow mallet upward and leftward above the black mat."}, {"label": "subtasks", "start_step": 270, "end_step": 307, "id": "reasoning-language-00006", "text": "Right hand: transport: Right hand transports the yellow mallet to the position above the red peg on the wooden toy."}, {"label": "subtasks", "start_step": 308, "end_step": 337, "id": "reasoning-language-00007", "text": "Right hand: press: Right hand presses the red peg on the wooden toy with the yellow mallet."}, {"label": "subtasks", "start_step": 338, "end_step": 434, "id": "reasoning-language-00008", "text": "Right hand: transport: Right hand lifts the yellow mallet slightly and adjusts its position above the red peg."}, {"label": "subtasks", "start_step": 435, "end_step": 479, "id": "reasoning-language-00009", "text": "Right hand: hold: Right hand holds the yellow mallet steady above the red peg without moving."}, {"label": "subtasks", "start_step": 480, "end_step": 517, "id": "reasoning-language-00010", "text": "Right hand: press: Right hand presses the red peg on the wooden toy with the yellow mallet."}, {"label": "subtasks", "start_step": 518, "end_step": 584, "id": "reasoning-language-00011", "text": "Right hand: transport: Right hand lifts the yellow mallet slightly and adjusts its position above the red peg."}, {"label": "subtasks", "start_step": 585, "end_step": 621, "id": "reasoning-language-00012", "text": "Right hand: press: Right hand presses the red peg on the wooden toy with the yellow mallet."}, {"label": "subtasks", "start_step": 622, "end_step": 697, "id": "reasoning-language-00013", "text": "Right hand: transport: Right hand lifts the yellow mallet slightly and adjusts its position above the red peg."}, {"label": "subtasks", "start_step": 698, "end_step": 719, "id": "reasoning-language-00014", "text": "Right hand: press: Right hand presses the red peg on the wooden toy with the yellow mallet."}, {"label": "subtasks", "start_step": 720, "end_step": 734, "id": "reasoning-language-00015", "text": "Right hand: lift: Right hand lifts the yellow mallet away from the wooden perforated board."}, {"label": "subtasks", "start_step": 735, "end_step": 764, "id": "reasoning-language-00016", "text": "Right hand: transport: Right hand transports the yellow mallet towards the right side of the wooden perforated board."}, {"label": "subtasks", "start_step": 765, "end_step": 779, "id": "reasoning-language-00017", "text": "Right hand: release: Right hand releases the yellow mallet onto the black table surface."}, {"label": "home", "start_step": 798, "end_step": 946, "id": "5ABg64CsBapSDv4r1K4zJ"}], "language_segments": [{"label": "subtasks", "start_step": 15, "end_step": 134, "id": "reasoning-language-00001", "text": "Right hand: reach: Right hand moves from the upper right of the frame toward the handle of the yellow hammer on the black mat."}, {"label": "subtasks", "start_step": 135, "end_step": 149, "id": "reasoning-language-00002", "text": "Right hand: grasp: Right hand contacts the handle of the yellow hammer and closes fingers to establish grasp."}, {"label": "subtasks", "start_step": 150, "end_step": 217, "id": "reasoning-language-00003", "text": "Right hand: grasp: Right hand adjusts its fingers to form a stable grasp on the wooden handle of the yellow mallet placed on the black mat."}, {"label": "subtasks", "start_step": 218, "end_step": 239, "id": "reasoning-language-00004", "text": "Right hand: lift: Right hand lifts the yellow mallet off the black mat by its wooden handle."}, {"label": "subtasks", "start_step": 240, "end_step": 269, "id": "reasoning-language-00005", "text": "Right hand: transport: Right hand moves the grasped yellow mallet upward and leftward above the black mat."}, {"label": "subtasks", "start_step": 270, "end_step": 307, "id": "reasoning-language-00006", "text": "Right hand: transport: Right hand transports the yellow mallet to the position above the red peg on the wooden toy."}, {"label": "subtasks", "start_step": 308, "end_step": 337, "id": "reasoning-language-00007", "text": "Right hand: press: Right hand presses the red peg on the wooden toy with the yellow mallet."}, {"label": "subtasks", "start_step": 338, "end_step": 434, "id": "reasoning-language-00008", "text": "Right hand: transport: Right hand lifts the yellow mallet slightly and adjusts its position above the red peg."}, {"label": "subtasks", "start_step": 435, "end_step": 479, "id": "reasoning-language-00009", "text": "Right hand: hold: Right hand holds the yellow mallet steady above the red peg without moving."}, {"label": "subtasks", "start_step": 480, "end_step": 517, "id": "reasoning-language-00010", "text": "Right hand: press: Right hand presses the red peg on the wooden toy with the yellow mallet."}, {"label": "subtasks", "start_step": 518, "end_step": 584, "id": "reasoning-language-00011", "text": "Right hand: transport: Right hand lifts the yellow mallet slightly and adjusts its position above the red peg."}, {"label": "subtasks", "start_step": 585, "end_step": 621, "id": "reasoning-language-00012", "text": "Right hand: press: Right hand presses the red peg on the wooden toy with the yellow mallet."}, {"label": "subtasks", "start_step": 622, "end_step": 697, "id": "reasoning-language-00013", "text": "Right hand: transport: Right hand lifts the yellow mallet slightly and adjusts its position above the red peg."}, {"label": "subtasks", "start_step": 698, "end_step": 719, "id": "reasoning-language-00014", "text": "Right hand: press: Right hand presses the red peg on the wooden toy with the yellow mallet."}, {"label": "subtasks", "start_step": 720, "end_step": 734, "id": "reasoning-language-00015", "text": "Right hand: lift: Right hand lifts the yellow mallet away from the wooden perforated board."}, {"label": "subtasks", "start_step": 735, "end_step": 764, "id": "reasoning-language-00016", "text": "Right hand: transport: Right hand transports the yellow mallet towards the right side of the wooden perforated board."}, {"label": "subtasks", "start_step": 765, "end_step": 779, "id": "reasoning-language-00017", "text": "Right hand: release: Right hand releases the yellow mallet onto the black table surface."}], "episode_index": 462} +{"source_uid": "67f81f345ad82da5", "num_frames": 790, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table.", "tags": {"task_name": "Hammer Nails", "task_instruction": "Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table.", "scene_description": "A hammer and two nails are placed on the table. 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"/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData/Hammer_Nails_v2/season_POC22048_2026_05_22_10_21_37_train/POC22048_2026_05_22_21_47_54_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/hammer_nails/season_POC22048_2026_05_22_10_21_37_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 328, "v40_language_source": "previous_published_lerobot", "episode_index": 463} +{"source_uid": "b13e7ea5cc6610b8", "num_frames": 805, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Hammer_Nails_v2", "tags": {"task_name": "Hammer_Nails_v2", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "B", "SOP": ""}, "segments": [{"label": "valid", "start_step": 0, "end_step": 654, "id": "FvaNVBbRDS1V9pDsEIXk8"}, {"label": "subtasks", "start_step": 15, "end_step": 134, "id": "reasoning-language-00001", "text": "Right hand: reach: Right hand moves left from the right edge of the frame toward the yellow hammer on the black mat."}, {"label": "subtasks", "start_step": 135, "end_step": 194, "id": "reasoning-language-00002", "text": "Right hand: grasp: Right hand touches the wooden handle of the yellow hammer and adjusts fingers to form a stable grasp."}, {"label": "subtasks", "start_step": 195, "end_step": 239, "id": "reasoning-language-00003", "text": "Right hand: grasp: Right hand closes its fingers to grasp the wooden handle of the yellow hammer on the black mat."}, {"label": "subtasks", "start_step": 240, "end_step": 254, "id": "reasoning-language-00004", "text": "Right hand: lift: Right hand lifts the yellow hammer off the black textured mat."}, {"label": "subtasks", "start_step": 255, "end_step": 314, "id": "reasoning-language-00005", "text": "Right hand: transport: Right hand transports the yellow hammer left toward the green peg on the wooden board."}, {"label": "subtasks", "start_step": 315, "end_step": 344, "id": "reasoning-language-00006", "text": "Right hand: place: Right hand places the yellow hammer onto the green peg on the wooden board."}, {"label": "subtasks", "start_step": 345, "end_step": 381, "id": "reasoning-language-00007", "text": "Right hand: hold: Right hand holds the yellow hammer with its head resting on the yellow peg above the green peg without moving."}, {"label": "subtasks", "start_step": 382, "end_step": 404, "id": "reasoning-language-00008", "text": "Right hand: lift: Right hand lifts the yellow hammer upward away from the yellow peg on the wooden base."}, {"label": "subtasks", "start_step": 405, "end_step": 441, "id": "reasoning-language-00009", "text": "Right hand: press: Right hand moves the yellow hammer downward to press the yellow peg, driving the green peg into the wooden base."}, {"label": "subtasks", "start_step": 442, "end_step": 464, "id": "reasoning-language-00010", "text": "Right hand: lift: Right hand lifts the yellow hammer upward slightly away from the yellow peg."}, {"label": "subtasks", "start_step": 465, "end_step": 554, "id": "reasoning-language-00011", "text": "Right hand: press: Right hand moves the yellow hammer downward to press the yellow peg again, further driving the green peg into the wooden base."}, {"label": "subtasks", "start_step": 555, "end_step": 569, "id": "reasoning-language-00012", "text": "Right hand: lift: Right hand lifts the yellow hammer upward fully away from the yellow peg."}, {"label": "subtasks", "start_step": 570, "end_step": 584, "id": "reasoning-language-00013", "text": "Right hand: transport: Right hand moves the lifted yellow hammer rightward away from the wooden base."}, {"label": "subtasks", "start_step": 585, "end_step": 621, "id": "reasoning-language-00014", "text": "Right hand: transport: Right hand transports the yellow hammer with wooden handle rightward above the black mat."}, {"label": "subtasks", "start_step": 622, "end_step": 637, "id": "reasoning-language-00015", "text": "Right hand: place_release: Right hand places the yellow hammer onto the black mat and releases the grip on the hammer handle."}, {"label": "subtasks", "start_step": 638, "end_step": 644, "id": "reasoning-language-00016", "text": "Right hand: retreat: Right hand retracts away from the yellow hammer placed on the black mat."}, {"label": "home", "start_step": 655, "end_step": 804, "id": "SScQ25aUwARKiPigXdXd_"}, {"label": "subtasks", "start_step": 795, "end_step": 804, "id": "reasoning-language-00017", "text": "Right hand: reach_grasp: Right hand enters the frame from the top right corner, moves towards the yellow hammer on the black mat, and touches the hammer to start grasping."}], "language_segments": [{"label": "subtasks", "start_step": 15, "end_step": 134, "id": "reasoning-language-00001", "text": "Right hand: reach: Right hand moves left from the right edge of the frame toward the yellow hammer on the black mat."}, {"label": "subtasks", "start_step": 135, "end_step": 194, "id": "reasoning-language-00002", "text": "Right hand: grasp: Right hand touches the wooden handle of the yellow hammer and adjusts fingers to form a stable grasp."}, {"label": "subtasks", "start_step": 195, "end_step": 239, "id": "reasoning-language-00003", "text": "Right hand: grasp: Right hand closes its fingers to grasp the wooden handle of the yellow hammer on the black mat."}, {"label": "subtasks", "start_step": 240, "end_step": 254, "id": "reasoning-language-00004", "text": "Right hand: lift: Right hand lifts the yellow hammer off the black textured mat."}, {"label": "subtasks", "start_step": 255, "end_step": 314, "id": "reasoning-language-00005", "text": "Right hand: transport: Right hand transports the yellow hammer left toward the green peg on the wooden board."}, {"label": "subtasks", "start_step": 315, "end_step": 344, "id": "reasoning-language-00006", "text": "Right hand: place: Right hand places the yellow hammer onto the green peg on the wooden board."}, {"label": "subtasks", "start_step": 345, "end_step": 381, "id": "reasoning-language-00007", "text": "Right hand: hold: Right hand holds the yellow hammer with its head resting on the yellow peg above the green peg without moving."}, {"label": "subtasks", "start_step": 382, "end_step": 404, "id": "reasoning-language-00008", "text": "Right hand: lift: Right hand lifts the yellow hammer upward away from the yellow peg on the wooden base."}, {"label": "subtasks", "start_step": 405, "end_step": 441, "id": "reasoning-language-00009", "text": "Right hand: press: Right hand moves the yellow hammer downward to press the yellow peg, driving the green peg into the wooden base."}, {"label": "subtasks", "start_step": 442, "end_step": 464, "id": "reasoning-language-00010", "text": "Right hand: lift: Right hand lifts the yellow hammer upward slightly away from the yellow peg."}, {"label": "subtasks", "start_step": 465, "end_step": 554, "id": "reasoning-language-00011", "text": "Right hand: press: Right hand moves the yellow hammer downward to press the yellow peg again, further driving the green peg into the wooden base."}, {"label": "subtasks", "start_step": 555, "end_step": 569, "id": "reasoning-language-00012", "text": "Right hand: lift: Right hand lifts the yellow hammer upward fully away from the yellow peg."}, {"label": "subtasks", "start_step": 570, "end_step": 584, "id": "reasoning-language-00013", "text": "Right hand: transport: Right hand moves the lifted yellow hammer rightward away from the wooden base."}, {"label": "subtasks", "start_step": 585, "end_step": 621, "id": "reasoning-language-00014", "text": "Right hand: transport: Right hand transports the yellow hammer with wooden handle rightward above the black mat."}, {"label": "subtasks", "start_step": 622, "end_step": 637, "id": "reasoning-language-00015", "text": "Right hand: place_release: Right hand places the yellow hammer onto the black mat and releases the grip on the hammer handle."}, {"label": "subtasks", "start_step": 638, "end_step": 644, "id": "reasoning-language-00016", "text": "Right hand: retreat: Right hand retracts away from the yellow hammer placed on the black mat."}, {"label": "subtasks", "start_step": 795, "end_step": 804, "id": "reasoning-language-00017", "text": "Right hand: reach_grasp: Right hand enters the frame from the top right corner, moves towards the yellow hammer on the black mat, and touches the hammer to start grasping."}], "episode_index": 464} +{"source_uid": "b4a8552e830b31e1", "num_frames": 1072, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Hammer_Nails_v2", "tags": {"task_name": "Hammer_Nails_v2", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "B", "SOP": ""}, "segments": [{"label": "valid", "start_step": 0, "end_step": 923, "id": "bea3JF6VoviGbnhnoyJwJ"}, {"label": "subtasks", "start_step": 75, "end_step": 111, "id": "reasoning-language-00001", "text": "Right hand: reach: Right hand enters from the top right of the frame and moves toward the yellow hammer on the black mat."}, {"label": "subtasks", "start_step": 112, "end_step": 194, "id": "reasoning-language-00002", "text": "Right hand: grasp: Right hand contacts the handle of the yellow hammer, with fingers adjusting to form a stable grip on the hammer."}, {"label": "subtasks", "start_step": 195, "end_step": 374, "id": "reasoning-language-00003", "text": "Right hand: grasp: Right hand adjusts its grip on the wooden handle of the yellow hammer by slightly moving fingers to form a stable grasp."}, {"label": "subtasks", "start_step": 375, "end_step": 404, "id": "reasoning-language-00004", "text": "Right hand: grasp: Right hand adjusts grip on the wooden handle of the yellow hammer to establish stable grasp."}, {"label": "subtasks", "start_step": 405, "end_step": 419, "id": "reasoning-language-00005", "text": "Right hand: lift: Right hand lifts the yellow hammer up from the black mat surface."}, {"label": "subtasks", "start_step": 420, "end_step": 464, "id": "reasoning-language-00006", "text": "Right hand: transport: Right hand transports the yellow hammer leftward to the position above the wooden pegboard."}, {"label": "subtasks", "start_step": 465, "end_step": 531, "id": "reasoning-language-00007", "text": "Right hand: grasp: Right hand adjusts its fingers to form a stable grasp on the wooden handle of the yellow hammer."}, {"label": "subtasks", "start_step": 532, "end_step": 577, "id": "reasoning-language-00008", "text": "Right hand: lift: Right hand lifts the yellow hammer upward away from the wooden base."}, {"label": "subtasks", "start_step": 578, "end_step": 704, "id": "reasoning-language-00009", "text": "Right hand: transport: Right hand transports the yellow hammer to the position above the green peg on the wooden base."}, {"label": "subtasks", "start_step": 705, "end_step": 741, "id": "reasoning-language-00010", "text": "Right hand: mate: Right hand aligns the yellow head of the hammer with the top of the green peg."}, {"label": "subtasks", "start_step": 742, "end_step": 809, "id": "reasoning-language-00011", "text": "Right hand: press: Right hand presses the green peg downward using the yellow head of the hammer."}, {"label": "subtasks", "start_step": 810, "end_step": 869, "id": "reasoning-language-00012", "text": "Right hand: lift_transport: Right hand lifts the yellow hammer from the wooden base and transports it towards the right side of the black textured mat."}, {"label": "subtasks", "start_step": 870, "end_step": 884, "id": "reasoning-language-00013", "text": "Right hand: place: Right hand moves downward to place the yellow hammer onto the black textured mat surface."}, {"label": "subtasks", "start_step": 885, "end_step": 899, "id": "reasoning-language-00014", "text": "Right hand: release: Right hand opens its fingers to release the yellow hammer and moves slightly upward away from the hammer."}, {"label": "home", "start_step": 924, "end_step": 1071, "id": "zn3hVJtq6JSRhxD7eqLes"}], "language_segments": [{"label": "subtasks", "start_step": 75, "end_step": 111, "id": "reasoning-language-00001", "text": "Right hand: reach: Right hand enters from the top right of the frame and moves toward the yellow hammer on the black mat."}, {"label": "subtasks", "start_step": 112, "end_step": 194, "id": "reasoning-language-00002", "text": "Right hand: grasp: Right hand contacts the handle of the yellow hammer, with fingers adjusting to form a stable grip on the hammer."}, {"label": "subtasks", "start_step": 195, "end_step": 374, "id": "reasoning-language-00003", "text": "Right hand: grasp: Right hand adjusts its grip on the wooden handle of the yellow hammer by slightly moving fingers to form a stable grasp."}, {"label": "subtasks", "start_step": 375, "end_step": 404, "id": "reasoning-language-00004", "text": "Right hand: grasp: Right hand adjusts grip on the wooden handle of the yellow hammer to establish stable grasp."}, {"label": "subtasks", "start_step": 405, "end_step": 419, "id": "reasoning-language-00005", "text": "Right hand: lift: Right hand lifts the yellow hammer up from the black mat surface."}, {"label": "subtasks", "start_step": 420, "end_step": 464, "id": "reasoning-language-00006", "text": "Right hand: transport: Right hand transports the yellow hammer leftward to the position above the wooden pegboard."}, {"label": "subtasks", "start_step": 465, "end_step": 531, "id": "reasoning-language-00007", "text": "Right hand: grasp: Right hand adjusts its fingers to form a stable grasp on the wooden handle of the yellow hammer."}, {"label": "subtasks", "start_step": 532, "end_step": 577, "id": "reasoning-language-00008", "text": "Right hand: lift: Right hand lifts the yellow hammer upward away from the wooden base."}, {"label": "subtasks", "start_step": 578, "end_step": 704, "id": "reasoning-language-00009", "text": "Right hand: transport: Right hand transports the yellow hammer to the position above the green peg on the wooden base."}, {"label": "subtasks", "start_step": 705, "end_step": 741, "id": "reasoning-language-00010", "text": "Right hand: mate: Right hand aligns the yellow head of the hammer with the top of the green peg."}, {"label": "subtasks", "start_step": 742, "end_step": 809, "id": "reasoning-language-00011", "text": "Right hand: press: Right hand presses the green peg downward using the yellow head of the hammer."}, {"label": "subtasks", "start_step": 810, "end_step": 869, "id": "reasoning-language-00012", "text": "Right hand: lift_transport: Right hand lifts the yellow hammer from the wooden base and transports it towards the right side of the black textured mat."}, {"label": "subtasks", "start_step": 870, "end_step": 884, "id": "reasoning-language-00013", "text": "Right hand: place: Right hand moves downward to place the yellow hammer onto the black textured mat surface."}, {"label": "subtasks", "start_step": 885, "end_step": 899, "id": "reasoning-language-00014", "text": "Right hand: release: Right hand opens its fingers to release the yellow hammer and moves slightly upward away from the hammer."}], "episode_index": 465} +{"source_uid": "dd71b55fcb46d6df", "num_frames": 876, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Hammer_Nails_v2", "tags": {"task_name": "Hammer_Nails_v2", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "B", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 111, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand stays partially visible at the far left edge of the frame, remains empty, and shows no observable movement or contact with any operated object throughout the segment. | Right hand: reach: Right hand starts outside the right edge of the frame, enters the view from the right, remains empty, and moves leftward toward the wooden-handled hammer to the right of the wooden peg toy, without contacting the hammer."}, {"label": "valid", "start_step": 0, "end_step": 726, "id": "8AdB-wAZwE5RP43qm2C0E"}, {"label": "subtasks", "start_step": 112, "end_step": 209, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand stays partially visible at the far left edge of the frame, remains empty, and shows no observable movement or contact with any operated object throughout the segment. | Right hand: grasp: Right hand contacts the wooden handle of the hammer, fingers gradually close and adjust their positions along with slight wrist repositioning to form a stable grip, while the hammer remains resting on the black supporting surface."}, {"label": "subtasks", "start_step": 210, "end_step": 224, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand stays partially visible at the far left edge of the frame, remains empty, and shows no observable movement or contact with any operated object throughout the segment. | Right hand: grasp: Right hand adjusts its fingers around the wooden handle of the yellow hammer lying flat on the black work surface to form a stable grasp."}, {"label": "subtasks", "start_step": 225, "end_step": 291, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand stays partially visible at the far left edge of the frame, remains empty, and shows no observable movement or contact with any operated object throughout the segment. | Right hand: transport: Right hand moves the grasped yellow hammer leftward in an upward arcing path, lifting the yellow hammer head off the black work surface while sliding the distal tip of the wooden handle along the surface, to position the hammer head over the wooden peg board."}, {"label": "subtasks", "start_step": 292, "end_step": 314, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand stays partially visible at the far left edge of the frame, remains empty, and shows no observable movement or contact with any operated object throughout the segment. | Right hand: place: Right hand lowers the yellow hammer vertically downward to rest its yellow head on the target peg atop the wooden peg board."}, {"label": "subtasks", "start_step": 315, "end_step": 419, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand stays partially visible at the far left edge of the frame, remains empty, and shows no observable movement or contact with any operated object throughout the segment. | Right hand: hold: Right hand holds the positioned yellow hammer stationary, with its head resting on the wooden peg and handle tip touching the black work surface, without observable movement."}, {"label": "subtasks", "start_step": 420, "end_step": 464, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand stays partially visible at the far left edge of the frame, remains empty, and shows no observable movement or contact with any operated object throughout the segment. | Right hand: press: Right hand grips the wooden handle of the yellow hammer, moves vertically downward to apply downward pressure on the red peg placed on the light brown perforated wooden block."}, {"label": "subtasks", "start_step": 465, "end_step": 569, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand stays partially visible at the far left edge of the frame, remains empty, and shows no observable movement or contact with any operated object throughout the segment."}, {"label": "subtasks", "start_step": 570, "end_step": 584, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand stays partially visible at the far left edge of the frame, remains empty, and shows no observable movement or contact with any operated object throughout the segment. | Right hand: grasp: Right hand adjusts finger positions to tighten its grip on the wooden hammer handle to form a stable hold."}, {"label": "subtasks", "start_step": 585, "end_step": 607, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand stays partially visible at the far left edge of the frame, remains empty, and shows no observable movement or contact with any operated object throughout the segment. | Right hand: lift_reorient: Right hand slightly lifts the hammer head off the wooden supporting base, and tilts the hammer toward the right to rotate it to a near-horizontal orientation."}, {"label": "subtasks", "start_step": 608, "end_step": 629, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand stays partially visible at the far left edge of the frame, remains empty, and shows no observable movement or contact with any operated object throughout the segment. | Right hand: hold: Right hand holds the wooden hammer without movement, with the yellow hammer head resting horizontally on the wooden base."}, {"label": "subtasks", "start_step": 630, "end_step": 644, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand stays partially visible at the far left edge of the frame, remains empty, and shows no observable movement or contact with any operated object throughout the segment. | Right hand: reorient: Right hand rotates its wrist to further tilt the hammer toward the right, lifting the hammer head off the wooden base."}, {"label": "subtasks", "start_step": 645, "end_step": 697, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand stays partially visible at the far left edge of the frame, remains empty, and shows no observable movement or contact with any operated object throughout the segment. | Right hand: lift_transport: Right hand grips the wooden handle of the yellow hammer, lifts it off the wooden peg toy, and moves it downward to the right over the black work surface."}, {"label": "subtasks", "start_step": 698, "end_step": 711, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand stays partially visible at the far left edge of the frame, remains empty, and shows no observable movement or contact with any operated object throughout the segment. | Right hand: place_release: Right hand places the yellow hammer onto the right side of the black work surface and opens its fingers to release the hammer handle."}, {"label": "subtasks", "start_step": 712, "end_step": 719, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand stays partially visible at the far left edge of the frame, remains empty, and shows no observable movement or contact with any operated object throughout the segment. | Right hand: retreat: Empty right hand moves upward away from the yellow hammer resting on the work surface."}, {"label": "subtasks", "start_step": 720, "end_step": 875, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand stays partially visible at the far left edge of the frame, remains empty, and shows no observable movement or contact with any operated object throughout the segment."}, {"label": "home", "start_step": 727, "end_step": 875, "id": "mO7BAQN-gKkJqVewvprQh"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 111, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand stays partially visible at the far left edge of the frame, remains empty, and shows no observable movement or contact with any operated object throughout the segment. | Right hand: reach: Right hand starts outside the right edge of the frame, enters the view from the right, remains empty, and moves leftward toward the wooden-handled hammer to the right of the wooden peg toy, without contacting the hammer."}, {"label": "subtasks", "start_step": 112, "end_step": 209, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand stays partially visible at the far left edge of the frame, remains empty, and shows no observable movement or contact with any operated object throughout the segment. | Right hand: grasp: Right hand contacts the wooden handle of the hammer, fingers gradually close and adjust their positions along with slight wrist repositioning to form a stable grip, while the hammer remains resting on the black supporting surface."}, {"label": "subtasks", "start_step": 210, "end_step": 224, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand stays partially visible at the far left edge of the frame, remains empty, and shows no observable movement or contact with any operated object throughout the segment. | Right hand: grasp: Right hand adjusts its fingers around the wooden handle of the yellow hammer lying flat on the black work surface to form a stable grasp."}, {"label": "subtasks", "start_step": 225, "end_step": 291, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand stays partially visible at the far left edge of the frame, remains empty, and shows no observable movement or contact with any operated object throughout the segment. | Right hand: transport: Right hand moves the grasped yellow hammer leftward in an upward arcing path, lifting the yellow hammer head off the black work surface while sliding the distal tip of the wooden handle along the surface, to position the hammer head over the wooden peg board."}, {"label": "subtasks", "start_step": 292, "end_step": 314, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand stays partially visible at the far left edge of the frame, remains empty, and shows no observable movement or contact with any operated object throughout the segment. | Right hand: place: Right hand lowers the yellow hammer vertically downward to rest its yellow head on the target peg atop the wooden peg board."}, {"label": "subtasks", "start_step": 315, "end_step": 419, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand stays partially visible at the far left edge of the frame, remains empty, and shows no observable movement or contact with any operated object throughout the segment. | Right hand: hold: Right hand holds the positioned yellow hammer stationary, with its head resting on the wooden peg and handle tip touching the black work surface, without observable movement."}, {"label": "subtasks", "start_step": 420, "end_step": 464, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand stays partially visible at the far left edge of the frame, remains empty, and shows no observable movement or contact with any operated object throughout the segment. | Right hand: press: Right hand grips the wooden handle of the yellow hammer, moves vertically downward to apply downward pressure on the red peg placed on the light brown perforated wooden block."}, {"label": "subtasks", "start_step": 465, "end_step": 569, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand stays partially visible at the far left edge of the frame, remains empty, and shows no observable movement or contact with any operated object throughout the segment."}, {"label": "subtasks", "start_step": 570, "end_step": 584, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand stays partially visible at the far left edge of the frame, remains empty, and shows no observable movement or contact with any operated object throughout the segment. | Right hand: grasp: Right hand adjusts finger positions to tighten its grip on the wooden hammer handle to form a stable hold."}, {"label": "subtasks", "start_step": 585, "end_step": 607, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand stays partially visible at the far left edge of the frame, remains empty, and shows no observable movement or contact with any operated object throughout the segment. | Right hand: lift_reorient: Right hand slightly lifts the hammer head off the wooden supporting base, and tilts the hammer toward the right to rotate it to a near-horizontal orientation."}, {"label": "subtasks", "start_step": 608, "end_step": 629, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand stays partially visible at the far left edge of the frame, remains empty, and shows no observable movement or contact with any operated object throughout the segment. | Right hand: hold: Right hand holds the wooden hammer without movement, with the yellow hammer head resting horizontally on the wooden base."}, {"label": "subtasks", "start_step": 630, "end_step": 644, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand stays partially visible at the far left edge of the frame, remains empty, and shows no observable movement or contact with any operated object throughout the segment. | Right hand: reorient: Right hand rotates its wrist to further tilt the hammer toward the right, lifting the hammer head off the wooden base."}, {"label": "subtasks", "start_step": 645, "end_step": 697, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand stays partially visible at the far left edge of the frame, remains empty, and shows no observable movement or contact with any operated object throughout the segment. | Right hand: lift_transport: Right hand grips the wooden handle of the yellow hammer, lifts it off the wooden peg toy, and moves it downward to the right over the black work surface."}, {"label": "subtasks", "start_step": 698, "end_step": 711, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand stays partially visible at the far left edge of the frame, remains empty, and shows no observable movement or contact with any operated object throughout the segment. | Right hand: place_release: Right hand places the yellow hammer onto the right side of the black work surface and opens its fingers to release the hammer handle."}, {"label": "subtasks", "start_step": 712, "end_step": 719, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand stays partially visible at the far left edge of the frame, remains empty, and shows no observable movement or contact with any operated object throughout the segment. | Right hand: retreat: Empty right hand moves upward away from the yellow hammer resting on the work surface."}, {"label": "subtasks", "start_step": 720, "end_step": 875, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand stays partially visible at the far left edge of the frame, remains empty, and shows no observable movement or contact with any operated object throughout the segment."}], "episode_index": 466} +{"source_uid": "a7cd6039ec21b27b", "num_frames": 758, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table.", "tags": {"task_name": "Hammer Nails", "task_instruction": "Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table.", "scene_description": "A hammer and two nails are placed on the table. 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The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back.", "success_criteria": "Both nails are hammered down securely, and the hammer is placed back stably on the table.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 207, "id": "subtask-001", "text": "Pick up the hammer from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 208, "end_step": 381, "id": "subtask-002", "text": "Hammer down the first nail with the right hand. | Skill: press", "task_skill": "press", "atomic_action": []}, {"label": "subtasks", "start_step": 382, "end_step": 486, "id": "subtask-003", "text": "Hammer down the second nail with the right hand. | Skill: press", "task_skill": "press", "atomic_action": []}, {"label": "subtasks", "start_step": 487, "end_step": 588, "id": "subtask-004", "text": "Place the hammer back on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 207, "id": "subtask-001", "text": "Pick up the hammer from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 208, "end_step": 381, "id": "subtask-002", "text": "Hammer down the first nail with the right hand. | Skill: press", "task_skill": "press", "atomic_action": []}, {"label": "subtasks", "start_step": 382, "end_step": 486, "id": "subtask-003", "text": "Hammer down the second nail with the right hand. | Skill: press", "task_skill": "press", "atomic_action": []}, {"label": "subtasks", "start_step": 487, "end_step": 588, "id": "subtask-004", "text": "Place the hammer back on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData/Hammer_Nails_v2/season_POC22048_2026_05_22_10_21_37_train/POC22048_2026_05_22_21_55_11_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/hammer_nails/season_POC22048_2026_05_22_10_21_37_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 333, "v40_language_source": "previous_published_lerobot", "episode_index": 473} +{"source_uid": "56e57ade1af86d8e", "num_frames": 912, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Hammer_Nails_v2", "tags": {"task_name": "Hammer_Nails_v2", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "B", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 104, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty and stationary at the far left edge of the frame, with no visible movement or contact with any objects. | Right hand: reach: Right hand moves downward empty from the top-right edge of the frame toward the light brown wooden handle of the wooden mallet, without making contact with the mallet."}, {"label": "valid", "start_step": 0, "end_step": 763, "id": "Fp9XAATmjpZgoeBLZv4Q_"}, {"label": "subtasks", "start_step": 105, "end_step": 224, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and stationary at the far left edge of the frame, with no visible movement or contact with any objects. | Right hand: grasp: Right hand makes contact with the wooden mallet's handle, closes fingers around the handle and makes slight adjustments to finger and wrist positions to form a grip, with the mallet remaining on the black table surface."}, {"label": "subtasks", "start_step": 225, "end_step": 261, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary at the far left edge of the frame, with no visible movement or contact with any objects. | Right hand: lift: Right hand grips the wooden mallet handle and lifts the mallet upward until the entire mallet is completely off the black supporting surface."}, {"label": "subtasks", "start_step": 262, "end_step": 539, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stationary at the far left edge of the frame, with no visible movement or contact with any objects. | Right hand: transport: Right hand carries the lifted wooden mallet leftward, with minor finger adjustments on the handle, moving the yellow mallet head to the position above the wooden peg platform."}, {"label": "subtasks", "start_step": 540, "end_step": 659, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and stationary at the far left edge of the frame, with no visible movement or contact with any objects."}, {"label": "subtasks", "start_step": 660, "end_step": 674, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary at the far left edge of the frame, with no visible movement or contact with any objects. | Right hand: lift: Right hand grips the wooden mallet and lifts it upward off the supporting black work surface and wooden toy."}, {"label": "subtasks", "start_step": 675, "end_step": 727, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary at the far left edge of the frame, with no visible movement or contact with any objects. | Right hand: transport: Right hand carries the gripped wooden mallet horizontally toward the right side of the black work surface."}, {"label": "subtasks", "start_step": 728, "end_step": 749, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary at the far left edge of the frame, with no visible movement or contact with any objects. | Right hand: place_release: Right hand lowers the wooden mallet onto the right section of the black work surface, opening fingers to release contact with the mallet."}, {"label": "subtasks", "start_step": 750, "end_step": 764, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stationary at the far left edge of the frame, with no visible movement or contact with any objects. | Right hand: retreat: Right hand moves upward away from the released mallet while staying empty."}, {"label": "home", "start_step": 764, "end_step": 911, "id": "3FLBG6IMWyAqItRRIqqMA"}, {"label": "subtasks", "start_step": 765, "end_step": 884, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stationary at the far left edge of the frame, with no visible movement or contact with any objects."}, {"label": "subtasks", "start_step": 885, "end_step": 911, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stationary at the far left edge of the frame, with no visible movement or contact with any objects. | Right hand: reach_grasp: Right hand moves down from the top-right frame edge toward the yellow mallet, with fingers closing to grasp the yellow head of the mallet."}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 104, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty and stationary at the far left edge of the frame, with no visible movement or contact with any objects. | Right hand: reach: Right hand moves downward empty from the top-right edge of the frame toward the light brown wooden handle of the wooden mallet, without making contact with the mallet."}, {"label": "subtasks", "start_step": 105, "end_step": 224, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and stationary at the far left edge of the frame, with no visible movement or contact with any objects. | Right hand: grasp: Right hand makes contact with the wooden mallet's handle, closes fingers around the handle and makes slight adjustments to finger and wrist positions to form a grip, with the mallet remaining on the black table surface."}, {"label": "subtasks", "start_step": 225, "end_step": 261, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary at the far left edge of the frame, with no visible movement or contact with any objects. | Right hand: lift: Right hand grips the wooden mallet handle and lifts the mallet upward until the entire mallet is completely off the black supporting surface."}, {"label": "subtasks", "start_step": 262, "end_step": 539, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stationary at the far left edge of the frame, with no visible movement or contact with any objects. | Right hand: transport: Right hand carries the lifted wooden mallet leftward, with minor finger adjustments on the handle, moving the yellow mallet head to the position above the wooden peg platform."}, {"label": "subtasks", "start_step": 540, "end_step": 659, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and stationary at the far left edge of the frame, with no visible movement or contact with any objects."}, {"label": "subtasks", "start_step": 660, "end_step": 674, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary at the far left edge of the frame, with no visible movement or contact with any objects. | Right hand: lift: Right hand grips the wooden mallet and lifts it upward off the supporting black work surface and wooden toy."}, {"label": "subtasks", "start_step": 675, "end_step": 727, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary at the far left edge of the frame, with no visible movement or contact with any objects. | Right hand: transport: Right hand carries the gripped wooden mallet horizontally toward the right side of the black work surface."}, {"label": "subtasks", "start_step": 728, "end_step": 749, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary at the far left edge of the frame, with no visible movement or contact with any objects. | Right hand: place_release: Right hand lowers the wooden mallet onto the right section of the black work surface, opening fingers to release contact with the mallet."}, {"label": "subtasks", "start_step": 750, "end_step": 764, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stationary at the far left edge of the frame, with no visible movement or contact with any objects. | Right hand: retreat: Right hand moves upward away from the released mallet while staying empty."}, {"label": "subtasks", "start_step": 765, "end_step": 884, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stationary at the far left edge of the frame, with no visible movement or contact with any objects."}, {"label": "subtasks", "start_step": 885, "end_step": 911, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stationary at the far left edge of the frame, with no visible movement or contact with any objects. | Right hand: reach_grasp: Right hand moves down from the top-right frame edge toward the yellow mallet, with fingers closing to grasp the yellow head of the mallet."}], "episode_index": 474} +{"source_uid": "b6508424cbd5c4e4", "num_frames": 936, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Hammer_Nails_v2", "tags": {"task_name": "Hammer_Nails_v2", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "B", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 59, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty with no visible movement or object interaction throughout the segment, only partially visible at the top-left edge during the earliest frames. | Right hand: idle: Right hand remains empty at the top-right edge of the frame without any visible movement."}, {"label": "valid", "start_step": 0, "end_step": 787, "id": "ZIkwCubeOTQl9RhpVgEto"}, {"label": "subtasks", "start_step": 60, "end_step": 119, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty with no visible movement or object interaction throughout the segment, only partially visible at the top-left edge during the earliest frames. | Right hand: reach: Right hand moves downward from the top-right edge of the frame toward the wooden handle of the yellow mallet, with fingers held in an open position."}, {"label": "subtasks", "start_step": 120, "end_step": 194, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty with no visible movement or object interaction throughout the segment, only partially visible at the top-left edge during the earliest frames. | Right hand: grasp: Right hand closes fingers around the wooden handle of the yellow mallet, making slight contact adjustments to establish a stable grip on the handle."}, {"label": "subtasks", "start_step": 195, "end_step": 217, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty with no visible movement or object interaction throughout the segment, only partially visible at the top-left edge during the earliest frames. | Right hand: lift: Right hand grips the wooden handle of the yellow mallet and lifts it upward until the entire mallet is fully separated from the black supporting mat."}, {"label": "subtasks", "start_step": 218, "end_step": 314, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty with no visible movement or object interaction throughout the segment, only partially visible at the top-left edge during the earliest frames. | Right hand: transport_place: Right hand carries the yellow mallet leftward to the position above the wooden workbench and lowers the mallet to rest its yellow head on the red peg atop the workbench while maintaining grip on the handle."}, {"label": "subtasks", "start_step": 315, "end_step": 434, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty with no visible movement or object interaction throughout the segment, only partially visible at the top-left edge during the earliest frames. | Right hand: grasp: Right hand adjusts finger contact positions and wrist posture on the wooden mallet handle, making small movements to tighten the grip and establish a stable hold on the mallet."}, {"label": "subtasks", "start_step": 435, "end_step": 531, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty with no visible movement or object interaction throughout the segment, only partially visible at the top-left edge during the earliest frames. | Right hand: transport: Right hand holds the mallet handle with a stable grip, moving the mallet vertically upward along the hole in the wooden base."}, {"label": "subtasks", "start_step": 532, "end_step": 599, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty with no visible movement or object interaction throughout the segment, only partially visible at the top-left edge during the earliest frames. | Right hand: transport: Right hand holds the mallet handle with a stable grip, moving the mallet vertically downward along the hole in the wooden base."}, {"label": "subtasks", "start_step": 600, "end_step": 674, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty with no visible movement or object interaction throughout the segment, only partially visible at the top-left edge during the earliest frames. | Right hand: hold: Right hand holds the wooden mallet handle steadily without observable movement, with the mallet resting against the wooden base."}, {"label": "subtasks", "start_step": 675, "end_step": 697, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty with no visible movement or object interaction throughout the segment, only partially visible at the top-left edge during the earliest frames. | Right hand: lift: Right hand holds the wooden mallet and lifts it upward away from the wooden peg toy, keeping fingers closed around the light wooden mallet handle."}, {"label": "subtasks", "start_step": 698, "end_step": 757, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty with no visible movement or object interaction throughout the segment, only partially visible at the top-left edge during the earliest frames. | Right hand: transport: Right hand holds the fully lifted wooden mallet and moves it horizontally rightward across the black textured mat toward the right side of the workspace."}, {"label": "subtasks", "start_step": 758, "end_step": 771, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty with no visible movement or object interaction throughout the segment, only partially visible at the top-left edge during the earliest frames. | Right hand: place_release: Right hand lowers the wooden mallet to rest on the right section of the black mat, opens fingers to release grip on the mallet handle, fully separating the hand from the mallet."}, {"label": "subtasks", "start_step": 772, "end_step": 809, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty with no visible movement or object interaction throughout the segment, only partially visible at the top-left edge during the earliest frames. | Right hand: retreat: Right hand, empty after releasing the mallet, moves upward and rightward away from the resting mallet toward the top-right edge of the frame."}, {"label": "home", "start_step": 788, "end_step": 935, "id": "5BWM0JbzUwLQ1H4hLxXZC"}, {"label": "subtasks", "start_step": 810, "end_step": 935, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty with no visible movement or object interaction throughout the segment, only partially visible at the top-left edge during the earliest frames."}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 59, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty with no visible movement or object interaction throughout the segment, only partially visible at the top-left edge during the earliest frames. | Right hand: idle: Right hand remains empty at the top-right edge of the frame without any visible movement."}, {"label": "subtasks", "start_step": 60, "end_step": 119, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty with no visible movement or object interaction throughout the segment, only partially visible at the top-left edge during the earliest frames. | Right hand: reach: Right hand moves downward from the top-right edge of the frame toward the wooden handle of the yellow mallet, with fingers held in an open position."}, {"label": "subtasks", "start_step": 120, "end_step": 194, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty with no visible movement or object interaction throughout the segment, only partially visible at the top-left edge during the earliest frames. | Right hand: grasp: Right hand closes fingers around the wooden handle of the yellow mallet, making slight contact adjustments to establish a stable grip on the handle."}, {"label": "subtasks", "start_step": 195, "end_step": 217, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty with no visible movement or object interaction throughout the segment, only partially visible at the top-left edge during the earliest frames. | Right hand: lift: Right hand grips the wooden handle of the yellow mallet and lifts it upward until the entire mallet is fully separated from the black supporting mat."}, {"label": "subtasks", "start_step": 218, "end_step": 314, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty with no visible movement or object interaction throughout the segment, only partially visible at the top-left edge during the earliest frames. | Right hand: transport_place: Right hand carries the yellow mallet leftward to the position above the wooden workbench and lowers the mallet to rest its yellow head on the red peg atop the workbench while maintaining grip on the handle."}, {"label": "subtasks", "start_step": 315, "end_step": 434, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty with no visible movement or object interaction throughout the segment, only partially visible at the top-left edge during the earliest frames. | Right hand: grasp: Right hand adjusts finger contact positions and wrist posture on the wooden mallet handle, making small movements to tighten the grip and establish a stable hold on the mallet."}, {"label": "subtasks", "start_step": 435, "end_step": 531, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty with no visible movement or object interaction throughout the segment, only partially visible at the top-left edge during the earliest frames. | Right hand: transport: Right hand holds the mallet handle with a stable grip, moving the mallet vertically upward along the hole in the wooden base."}, {"label": "subtasks", "start_step": 532, "end_step": 599, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty with no visible movement or object interaction throughout the segment, only partially visible at the top-left edge during the earliest frames. | Right hand: transport: Right hand holds the mallet handle with a stable grip, moving the mallet vertically downward along the hole in the wooden base."}, {"label": "subtasks", "start_step": 600, "end_step": 674, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty with no visible movement or object interaction throughout the segment, only partially visible at the top-left edge during the earliest frames. | Right hand: hold: Right hand holds the wooden mallet handle steadily without observable movement, with the mallet resting against the wooden base."}, {"label": "subtasks", "start_step": 675, "end_step": 697, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty with no visible movement or object interaction throughout the segment, only partially visible at the top-left edge during the earliest frames. | Right hand: lift: Right hand holds the wooden mallet and lifts it upward away from the wooden peg toy, keeping fingers closed around the light wooden mallet handle."}, {"label": "subtasks", "start_step": 698, "end_step": 757, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty with no visible movement or object interaction throughout the segment, only partially visible at the top-left edge during the earliest frames. | Right hand: transport: Right hand holds the fully lifted wooden mallet and moves it horizontally rightward across the black textured mat toward the right side of the workspace."}, {"label": "subtasks", "start_step": 758, "end_step": 771, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty with no visible movement or object interaction throughout the segment, only partially visible at the top-left edge during the earliest frames. | Right hand: place_release: Right hand lowers the wooden mallet to rest on the right section of the black mat, opens fingers to release grip on the mallet handle, fully separating the hand from the mallet."}, {"label": "subtasks", "start_step": 772, "end_step": 809, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty with no visible movement or object interaction throughout the segment, only partially visible at the top-left edge during the earliest frames. | Right hand: retreat: Right hand, empty after releasing the mallet, moves upward and rightward away from the resting mallet toward the top-right edge of the frame."}, {"label": "subtasks", "start_step": 810, "end_step": 935, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty with no visible movement or object interaction throughout the segment, only partially visible at the top-left edge during the earliest frames."}], "episode_index": 475} +{"source_uid": "7c8461942b4f4102", "num_frames": 958, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Hammer_Nails_v2", "tags": {"task_name": "Hammer_Nails_v2", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "B", "SOP": ""}, "segments": [{"label": "valid", "start_step": 0, "end_step": 809, "id": "HRyaN5q4gjdLsR59APSZM"}, {"label": "subtasks", "start_step": 15, "end_step": 104, "id": "reasoning-language-00001", "text": "Right hand: reach: Right hand enters from the right edge of the frame and moves toward the yellow hammer with wooden handle on the black mat."}, {"label": "subtasks", "start_step": 105, "end_step": 194, "id": "reasoning-language-00002", "text": "Right hand: reach_grasp: Right hand moves towards the wooden handle of the yellow hammer on the black textured mat and closes its fingers to grasp the handle."}, {"label": "subtasks", "start_step": 195, "end_step": 247, "id": "reasoning-language-00003", "text": "Right hand: grasp: Right hand adjusts fingers to form a stable grasp on the yellow hammer on the black mat."}, {"label": "subtasks", "start_step": 248, "end_step": 269, "id": "reasoning-language-00004", "text": "Right hand: lift: Right hand lifts the yellow hammer upward until it completely leaves the black mat surface."}, {"label": "subtasks", "start_step": 270, "end_step": 329, "id": "reasoning-language-00005", "text": "Right hand: transport: Right hand transports the yellow hammer to the position above the green peg on the wooden board."}, {"label": "subtasks", "start_step": 330, "end_step": 397, "id": "reasoning-language-00006", "text": "Right hand: grasp: Right hand adjusts its grip on the yellow hammer with wooden handle, fingers slightly move to stabilize the grasp."}, {"label": "subtasks", "start_step": 398, "end_step": 457, "id": "reasoning-language-00007", "text": "Right hand: other:hit: Right hand lifts the yellow hammer and hits the green peg on the wooden peg board, driving the peg into the board."}, {"label": "subtasks", "start_step": 458, "end_step": 539, "id": "reasoning-language-00008", "text": "Right hand: grasp: Right hand adjusts its grip and position of the yellow hammer to prepare for the next hit."}, {"label": "subtasks", "start_step": 540, "end_step": 584, "id": "reasoning-language-00009", "text": "Right hand: other:hit: Right hand lifts the yellow hammer and hits the green peg on the wooden peg board again to push it further into the board."}, {"label": "subtasks", "start_step": 585, "end_step": 651, "id": "reasoning-language-00010", "text": "Right hand: hold: Right hand holds the yellow hammer without moving, staying at the position after the second hit."}, {"label": "subtasks", "start_step": 652, "end_step": 697, "id": "reasoning-language-00011", "text": "Right hand: other:hit: Right hand lifts the yellow hammer and hits the green peg on the wooden peg board for the third time."}, {"label": "subtasks", "start_step": 698, "end_step": 719, "id": "reasoning-language-00012", "text": "Right hand: transport: Right hand moves the yellow hammer slightly away from the wooden peg board after the last hit."}, {"label": "subtasks", "start_step": 720, "end_step": 779, "id": "reasoning-language-00013", "text": "Right hand: transport: Right hand transports the yellow hammer with wooden handle moving rightwards away from the small wooden bench."}, {"label": "subtasks", "start_step": 780, "end_step": 787, "id": "reasoning-language-00014", "text": "Right hand: place: Right hand places the yellow hammer onto the black textured mat on the right side of the small wooden bench."}, {"label": "subtasks", "start_step": 788, "end_step": 794, "id": "reasoning-language-00015", "text": "Right hand: release: Right hand releases the yellow hammer by opening fingers to separate from the hammer handle."}, {"label": "subtasks", "start_step": 795, "end_step": 809, "id": "reasoning-language-00016", "text": "Right hand: retreat: Right hand moves away from the yellow hammer towards the upper right direction."}, {"label": "home", "start_step": 810, "end_step": 957, "id": "PLWs9d4N1CNKHtEklS3JV"}], "language_segments": [{"label": "subtasks", "start_step": 15, "end_step": 104, "id": "reasoning-language-00001", "text": "Right hand: reach: Right hand enters from the right edge of the frame and moves toward the yellow hammer with wooden handle on the black mat."}, {"label": "subtasks", "start_step": 105, "end_step": 194, "id": "reasoning-language-00002", "text": "Right hand: reach_grasp: Right hand moves towards the wooden handle of the yellow hammer on the black textured mat and closes its fingers to grasp the handle."}, {"label": "subtasks", "start_step": 195, "end_step": 247, "id": "reasoning-language-00003", "text": "Right hand: grasp: Right hand adjusts fingers to form a stable grasp on the yellow hammer on the black mat."}, {"label": "subtasks", "start_step": 248, "end_step": 269, "id": "reasoning-language-00004", "text": "Right hand: lift: Right hand lifts the yellow hammer upward until it completely leaves the black mat surface."}, {"label": "subtasks", "start_step": 270, "end_step": 329, "id": "reasoning-language-00005", "text": "Right hand: transport: Right hand transports the yellow hammer to the position above the green peg on the wooden board."}, {"label": "subtasks", "start_step": 330, "end_step": 397, "id": "reasoning-language-00006", "text": "Right hand: grasp: Right hand adjusts its grip on the yellow hammer with wooden handle, fingers slightly move to stabilize the grasp."}, {"label": "subtasks", "start_step": 398, "end_step": 457, "id": "reasoning-language-00007", "text": "Right hand: other:hit: Right hand lifts the yellow hammer and hits the green peg on the wooden peg board, driving the peg into the board."}, {"label": "subtasks", "start_step": 458, "end_step": 539, "id": "reasoning-language-00008", "text": "Right hand: grasp: Right hand adjusts its grip and position of the yellow hammer to prepare for the next hit."}, {"label": "subtasks", "start_step": 540, "end_step": 584, "id": "reasoning-language-00009", "text": "Right hand: other:hit: Right hand lifts the yellow hammer and hits the green peg on the wooden peg board again to push it further into the board."}, {"label": "subtasks", "start_step": 585, "end_step": 651, "id": "reasoning-language-00010", "text": "Right hand: hold: Right hand holds the yellow hammer without moving, staying at the position after the second hit."}, {"label": "subtasks", "start_step": 652, "end_step": 697, "id": "reasoning-language-00011", "text": "Right hand: other:hit: Right hand lifts the yellow hammer and hits the green peg on the wooden peg board for the third time."}, {"label": "subtasks", "start_step": 698, "end_step": 719, "id": "reasoning-language-00012", "text": "Right hand: transport: Right hand moves the yellow hammer slightly away from the wooden peg board after the last hit."}, {"label": "subtasks", "start_step": 720, "end_step": 779, "id": "reasoning-language-00013", "text": "Right hand: transport: Right hand transports the yellow hammer with wooden handle moving rightwards away from the small wooden bench."}, {"label": "subtasks", "start_step": 780, "end_step": 787, "id": "reasoning-language-00014", "text": "Right hand: place: Right hand places the yellow hammer onto the black textured mat on the right side of the small wooden bench."}, {"label": "subtasks", "start_step": 788, "end_step": 794, "id": "reasoning-language-00015", "text": "Right hand: release: Right hand releases the yellow hammer by opening fingers to separate from the hammer handle."}, {"label": "subtasks", "start_step": 795, "end_step": 809, "id": "reasoning-language-00016", "text": "Right hand: retreat: Right hand moves away from the yellow hammer towards the upper right direction."}], "episode_index": 476} +{"source_uid": "558b426031fdcf54", "num_frames": 880, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table.", "tags": {"task_name": "Hammer Nails", "task_instruction": "Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table.", "scene_description": "A hammer and two nails are placed on the table. 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Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table.", "tags": {"task_name": "Hammer Nails", "task_instruction": "Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table.", "scene_description": "A hammer and two nails are placed on the table. 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"/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData/Hammer_Nails_v2/season_POC22048_2026_05_22_10_21_37_train/POC22048_2026_05_22_21_58_47_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/hammer_nails/season_POC22048_2026_05_22_10_21_37_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 335, "v40_language_source": "previous_published_lerobot", "episode_index": 478} +{"source_uid": "4152d7cbaed287bf", "num_frames": 784, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Hammer_Nails_v2", "tags": {"task_name": "Hammer_Nails_v2", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "B", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 51, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand has no observable movement or contact with any operated object in the frame, remaining empty. | Right hand: idle: Right hand remains empty at the top-right edge of the frame without observable movement."}, {"label": "valid", "start_step": 0, "end_step": 635, "id": "FZ_X2VqycyBWo4WvJ-8Gk"}, {"label": "subtasks", "start_step": 52, "end_step": 119, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand has no observable movement or contact with any operated object in the frame, remaining empty. | Right hand: reach: Right hand moves downward from the top-right of the frame toward the wooden handle of the yellow mallet, with fingers held slightly open."}, {"label": "subtasks", "start_step": 120, "end_step": 194, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand has no observable movement or contact with any operated object in the frame, remaining empty. | Right hand: grasp: Right hand closes fingers around the wooden handle of the yellow mallet, making slight finger adjustments to establish stable contact with the handle."}, {"label": "subtasks", "start_step": 195, "end_step": 209, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand has no observable movement or contact with any operated object in the frame, remaining empty. | Right hand: hold: Right hand holds the wooden mallet resting on the black work surface without moving."}, {"label": "subtasks", "start_step": 210, "end_step": 224, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand has no observable movement or contact with any operated object in the frame, remaining empty. | Right hand: lift: Right hand lifts the grasped wooden mallet upward to completely raise it off the black work surface."}, {"label": "subtasks", "start_step": 225, "end_step": 269, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand has no observable movement or contact with any operated object in the frame, remaining empty. | Right hand: transport: Right hand transports the lifted wooden mallet slightly upward and leftward toward the wooden peg board, rotating the wrist slightly to adjust the mallet to a near-vertical orientation with the yellow head facing downward."}, {"label": "subtasks", "start_step": 270, "end_step": 299, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand has no observable movement or contact with any operated object in the frame, remaining empty. | Right hand: hold: Right hand holds the adjusted wooden mallet stationary with the yellow head positioned directly above the red peg on the wooden block."}, {"label": "subtasks", "start_step": 300, "end_step": 351, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand has no observable movement or contact with any operated object in the frame, remaining empty. | Right hand: grasp: Right hand closes fingers around the wooden mallet handle, adjusting contact positions to form a stable grasp."}, {"label": "subtasks", "start_step": 352, "end_step": 554, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand has no observable movement or contact with any operated object in the frame, remaining empty. | Right hand: press: Right hand holds the wooden mallet and presses it straight downward onto the wooden peg on the wooden base, applying downward vertical force."}, {"label": "subtasks", "start_step": 555, "end_step": 569, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand has no observable movement or contact with any operated object in the frame, remaining empty. | Right hand: lift: Right hand holds the wooden mallet with a yellow head, lifting it upward to separate it from the wooden pegboard below."}, {"label": "subtasks", "start_step": 570, "end_step": 607, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand has no observable movement or contact with any operated object in the frame, remaining empty. | Right hand: transport: Right hand carries the lifted wooden mallet, moving it horizontally rightward across the black work surface away from the pegboard."}, {"label": "subtasks", "start_step": 608, "end_step": 621, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand has no observable movement or contact with any operated object in the frame, remaining empty. | Right hand: place_release: Right hand lowers the wooden mallet until its yellow head contacts the black work surface, fingers opening to release grip on the wooden handle."}, {"label": "subtasks", "start_step": 622, "end_step": 644, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand has no observable movement or contact with any operated object in the frame, remaining empty. | Right hand: retreat: Right hand moves empty upward and rightward, retreating away from the mallet resting on the work surface."}, {"label": "home", "start_step": 636, "end_step": 783, "id": "_ng33ha98c-Lc-au1XcRR"}, {"label": "subtasks", "start_step": 645, "end_step": 783, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand has no observable movement or contact with any operated object in the frame, remaining empty."}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 51, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand has no observable movement or contact with any operated object in the frame, remaining empty. | Right hand: idle: Right hand remains empty at the top-right edge of the frame without observable movement."}, {"label": "subtasks", "start_step": 52, "end_step": 119, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand has no observable movement or contact with any operated object in the frame, remaining empty. | Right hand: reach: Right hand moves downward from the top-right of the frame toward the wooden handle of the yellow mallet, with fingers held slightly open."}, {"label": "subtasks", "start_step": 120, "end_step": 194, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand has no observable movement or contact with any operated object in the frame, remaining empty. | Right hand: grasp: Right hand closes fingers around the wooden handle of the yellow mallet, making slight finger adjustments to establish stable contact with the handle."}, {"label": "subtasks", "start_step": 195, "end_step": 209, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand has no observable movement or contact with any operated object in the frame, remaining empty. | Right hand: hold: Right hand holds the wooden mallet resting on the black work surface without moving."}, {"label": "subtasks", "start_step": 210, "end_step": 224, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand has no observable movement or contact with any operated object in the frame, remaining empty. | Right hand: lift: Right hand lifts the grasped wooden mallet upward to completely raise it off the black work surface."}, {"label": "subtasks", "start_step": 225, "end_step": 269, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand has no observable movement or contact with any operated object in the frame, remaining empty. | Right hand: transport: Right hand transports the lifted wooden mallet slightly upward and leftward toward the wooden peg board, rotating the wrist slightly to adjust the mallet to a near-vertical orientation with the yellow head facing downward."}, {"label": "subtasks", "start_step": 270, "end_step": 299, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand has no observable movement or contact with any operated object in the frame, remaining empty. | Right hand: hold: Right hand holds the adjusted wooden mallet stationary with the yellow head positioned directly above the red peg on the wooden block."}, {"label": "subtasks", "start_step": 300, "end_step": 351, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand has no observable movement or contact with any operated object in the frame, remaining empty. | Right hand: grasp: Right hand closes fingers around the wooden mallet handle, adjusting contact positions to form a stable grasp."}, {"label": "subtasks", "start_step": 352, "end_step": 554, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand has no observable movement or contact with any operated object in the frame, remaining empty. | Right hand: press: Right hand holds the wooden mallet and presses it straight downward onto the wooden peg on the wooden base, applying downward vertical force."}, {"label": "subtasks", "start_step": 555, "end_step": 569, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand has no observable movement or contact with any operated object in the frame, remaining empty. | Right hand: lift: Right hand holds the wooden mallet with a yellow head, lifting it upward to separate it from the wooden pegboard below."}, {"label": "subtasks", "start_step": 570, "end_step": 607, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand has no observable movement or contact with any operated object in the frame, remaining empty. | Right hand: transport: Right hand carries the lifted wooden mallet, moving it horizontally rightward across the black work surface away from the pegboard."}, {"label": "subtasks", "start_step": 608, "end_step": 621, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand has no observable movement or contact with any operated object in the frame, remaining empty. | Right hand: place_release: Right hand lowers the wooden mallet until its yellow head contacts the black work surface, fingers opening to release grip on the wooden handle."}, {"label": "subtasks", "start_step": 622, "end_step": 644, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand has no observable movement or contact with any operated object in the frame, remaining empty. | Right hand: retreat: Right hand moves empty upward and rightward, retreating away from the mallet resting on the work surface."}, 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"reasoning-language-00010", "text": "Right hand: place_release: Right hand places the yellow hammer onto the black textured mat and releases its grip on the hammer."}, {"label": "subtasks", "start_step": 600, "end_step": 614, "id": "reasoning-language-00011", "text": "Right hand: retreat: Right hand retreats upward away from the placed yellow hammer."}, {"label": "home", "start_step": 623, "end_step": 771, "id": "lwUq10K4KQwRyNFvtXGXY"}, {"label": "subtasks", "start_step": 750, "end_step": 757, "id": "reasoning-language-00012", "text": "Right hand: grasp: Right hand closes fingers to grasp the yellow hammer with wooden handle on the right side of the black mat."}, {"label": "subtasks", "start_step": 758, "end_step": 771, "id": "reasoning-language-00013", "text": "Right hand: lift_transport: Right hand lifts the yellow hammer from the black mat and transports it leftward towards the wooden peg board."}], "language_segments": [{"label": "subtasks", "start_step": 15, "end_step": 127, 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contact."}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 59, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty on the left edge of the frame without moving. | Right hand: idle: Right hand remains empty at the top right of the frame without moving."}, {"label": "subtasks", "start_step": 60, "end_step": 97, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty on the left edge of the frame without moving. | Right hand: reach: Right hand moves downward from the top right of the frame toward the wooden mallet, approaching the mallet without establishing a grip."}, {"label": "subtasks", "start_step": 98, "end_step": 187, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty on the left edge of the frame without moving. | Right hand: grasp: Right hand closes fingers around the wooden handle of the mallet, adjusting finger positions to establish a stable grip, with the 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moving. | Right hand: transport: Right hand carries the fully lifted wooden mallet leftward toward the wooden peg toy, slightly rotating the mallet from a tilted orientation to a near-vertical orientation as it moves."}, {"label": "subtasks", "start_step": 330, "end_step": 419, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty on the left edge of the frame without moving."}, {"label": "subtasks", "start_step": 420, "end_step": 517, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty on the left edge of the frame without moving. | Right hand: grasp: Right hand adjusts its fingers around the wooden mallet handle, gradually closing and repositioning contact points to form a stable grip."}, {"label": "subtasks", "start_step": 518, "end_step": 539, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty on the left edge of the frame without moving. | Right hand: press: Right hand holds the mallet steadily and moves vertically downward to apply pressure, causing the mallet head to strike the red peg mounted on the wooden pegboard."}, {"label": "subtasks", "start_step": 540, "end_step": 561, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty on the left edge of the frame without moving. | Right hand: lift: Right hand holds the wooden mallet, lifts it upward to completely separate it from the wooden toy structure."}, {"label": "subtasks", "start_step": 562, "end_step": 584, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty on the left edge of the frame without moving. | Right hand: transport: Right hand carries the lifted wooden mallet rightward through the air to the area above the right side of the black work surface."}, {"label": "subtasks", "start_step": 585, "end_step": 614, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty on the left edge of the frame without moving. | Right hand: place_release: Right hand lowers the wooden mallet onto the right black work surface until the mallet is fully supported by the surface, fingers open to release contact with the mallet handle."}, {"label": "subtasks", "start_step": 615, "end_step": 659, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty on the left edge of the frame without moving. | Right hand: retreat: Right hand moves empty upward and rightward away from the released mallet on the work surface."}, {"label": "subtasks", "start_step": 660, "end_step": 764, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty on the left edge of the frame without moving."}, {"label": "subtasks", "start_step": 765, "end_step": 775, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty on the left edge of the frame without moving. | Right hand: reach: Right hand re-enters the view from the top right edge, moves downward with an empty hand toward the yellow mallet, approaching the target without making contact."}], "episode_index": 509} +{"source_uid": "2ac564f3580b429c", "num_frames": 839, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table.", "tags": {"task_name": "Hammer Nails", "task_instruction": "Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table.", "scene_description": "A hammer and two nails are placed on the table. 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place_release: Right hand lowers the wooden hammer to rest on the black work surface, adjusts its orientation to lie flat and opens fingers to release the hammer completely."}, {"label": "subtasks", "start_step": 870, "end_step": 929, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame with no visible movement throughout the segment. | Right hand: retreat: Right hand moves empty upward and rightward away from the placed hammer, retreating from the operation area."}, {"label": "home", "start_step": 895, "end_step": 1042, "id": "oYrOxdWHhGmRWJpzhqtfe"}, {"label": "subtasks", "start_step": 930, "end_step": 1042, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame with no visible movement throughout the segment."}], "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 edge of the frame with no visible movement throughout the segment. | Right hand: idle: Right hand remains empty at the top-right edge of the frame without any visible movement."}, {"label": "subtasks", "start_step": 45, "end_step": 127, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame with no visible movement throughout the segment. | Right hand: reach: Right hand moves down-left from the top-right edge of the frame toward the wooden hammer, approaching the wooden handle of the hammer without making stable contact."}, {"label": "subtasks", "start_step": 128, "end_step": 269, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame with no visible movement throughout the segment. | Right hand: grasp: Right hand closes fingers around the wooden handle of the hammer, adjusting finger contact positions to form a stable grip, with the hammer remaining stationary on the black supporting mat."}, {"label": "subtasks", "start_step": 270, "end_step": 299, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame with no visible movement throughout the segment. | Right hand: lift: Right hand grips the hammer handle and moves upward, lifting the hammer so that its yellow head gradually separates from the black supporting surface."}, {"label": "subtasks", "start_step": 300, "end_step": 321, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame with no visible movement throughout the segment. | Right hand: grasp: Right hand adjusts its grip on the wooden handle of the yellow-headed hammer, repositioning fingers to stabilize the hold while the hammer remains resting on the black work surface."}, {"label": "subtasks", "start_step": 322, "end_step": 344, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame with no visible movement throughout the segment. | Right hand: lift: Right hand lifts the gripped yellow-headed hammer upward, fully raising it off the black work surface."}, {"label": "subtasks", "start_step": 345, "end_step": 427, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame with no visible movement throughout the segment. | Right hand: transport: Right hand transports the lifted hammer leftward through the air toward the central wooden peg toy, adjusting position to align the hammer head over the red peg on the toy."}, {"label": "subtasks", "start_step": 428, "end_step": 524, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame with no visible movement throughout the segment. | Right hand: hold: Right hand holds the yellow-headed hammer steadily in position above the red peg on the central wooden peg toy, with no observable movement of the hand or hammer."}, {"label": "subtasks", "start_step": 525, "end_step": 577, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame with no visible movement throughout the segment. | Right hand: grasp: Right hand adjusts its fingers around the wooden hammer handle to stabilize grip on the tool."}, {"label": "subtasks", "start_step": 578, "end_step": 614, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame with no visible movement throughout the segment. | Right hand: lift: Right hand lifts the wooden hammer upward, moving the yellow hammer head away from the yellow cylindrical peg on the wooden board."}, {"label": "subtasks", "start_step": 615, "end_step": 651, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame with no visible movement throughout the segment. | Right hand: hold: Right hand holds the lifted wooden hammer stationary in the raised position above the yellow cylindrical peg."}, {"label": "subtasks", "start_step": 652, "end_step": 704, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame with no visible movement throughout the segment. | Right hand: transport_press: Right hand carries the wooden hammer downward toward the yellow cylindrical peg, pressing the hammer head against the peg to deliver a tap."}, {"label": "subtasks", "start_step": 705, "end_step": 764, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame with no visible movement throughout the segment. | Right hand: lift: Right hand lifts the wooden hammer upward again, moving the yellow hammer head away from the yellow cylindrical peg following the tap."}, {"label": "subtasks", "start_step": 765, "end_step": 831, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame with no visible movement throughout the segment. | Right hand: lift_transport: Right hand grips the wooden hammer with a yellow head, lifts it off the green support post of the wooden peg toy and moves it horizontally rightward to the area above the right side of the black work surface."}, {"label": "subtasks", "start_step": 832, "end_step": 869, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame with no visible movement throughout the segment. | Right hand: place_release: Right hand lowers the wooden hammer to rest on the black work surface, adjusts its orientation to lie flat and opens fingers to release the hammer completely."}, {"label": "subtasks", "start_step": 870, "end_step": 929, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame with no visible movement throughout the segment. | Right hand: retreat: Right hand moves empty upward and rightward away from the placed hammer, retreating from the operation area."}, {"label": "subtasks", "start_step": 930, "end_step": 1042, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame with no visible movement throughout the segment."}], "episode_index": 5} +{"source_uid": "08e0bbed18edbfbb", "num_frames": 977, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. 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Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table.", "tags": {"task_name": "Hammer Nails", "task_instruction": "Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table.", "scene_description": "A hammer and two nails are placed on the table. 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"start_step": 45, "end_step": 134, "id": "reasoning-language-00001", "text": "Right hand: reach: Right hand enters from the right edge of the frame and moves toward the yellow hammer on the black mat."}, {"label": "subtasks", "start_step": 135, "end_step": 201, "id": "reasoning-language-00002", "text": "Right hand: grasp: Right hand adjusts its fingers to grasp the handle of the yellow hammer."}, {"label": "subtasks", "start_step": 202, "end_step": 239, "id": "reasoning-language-00003", "text": "Right hand: hold: Right hand holds the yellow hammer on the black mat without moving."}, {"label": "subtasks", "start_step": 240, "end_step": 261, "id": "reasoning-language-00004", "text": "Right hand: grasp: Right hand adjusts its grip on the wooden handle of the yellow hammer to form a stable grasp."}, {"label": "subtasks", "start_step": 262, "end_step": 291, "id": "reasoning-language-00005", "text": "Right hand: lift: Right hand lifts the yellow hammer off the black mat supporting 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"start_step": 615, "end_step": 629, "id": "reasoning-language-00009", "text": "Right hand: reorient: Right hand tilts the mallet slightly toward the left, rotating it around its contact point with the board to change the mallet's orientation."}, {"label": "subtasks", "start_step": 630, "end_step": 681, "id": "reasoning-language-00010", "text": "Right hand: transport: Right hand grips the wooden handle of the yellow mallet and moves the mallet horizontally across the peg board to position the yellow mallet head directly above the red peg."}, {"label": "subtasks", "start_step": 682, "end_step": 771, "id": "reasoning-language-00011", "text": "Right hand: grasp: Right hand adjusts its finger positions on the wooden mallet handle slightly to stabilize the grip and maintain precise alignment of the mallet head over the red peg, with minimal mallet movement."}, {"label": "subtasks", "start_step": 772, "end_step": 831, "id": "reasoning-language-00012", "text": "Right hand: press: Right hand moves the yellow mallet vertically downward to press the mallet head against the red peg, applying downward force to tap the peg."}, {"label": "subtasks", "start_step": 832, "end_step": 884, "id": "reasoning-language-00013", "text": "Right hand: lift: Right hand lifts the yellow mallet vertically upward, raising the mallet head away from the surface of the red peg after the tap."}, {"label": "subtasks", "start_step": 885, "end_step": 929, "id": "reasoning-language-00014", "text": "Right hand: lift_transport: Right hand holds the yellow-headed wooden mallet, lifts it clear of the adjacent wooden peg toy, and carries it horizontally rightward to the area above the right black work mat."}, {"label": "subtasks", "start_step": 930, "end_step": 944, "id": "reasoning-language-00015", "text": "Right hand: place: Right hand lowers the held mallet vertically downward until the mallet rests stably on the black work mat."}, {"label": "subtasks", "start_step": 945, "end_step": 959, "id": "reasoning-language-00016", "text": "Right hand: release_retreat: Right hand opens its fingers to release grip on the mallet handle, moving the empty hand upward away from the mallet on the mat."}], "episode_index": 18} +{"source_uid": "d43862838529fc58", "num_frames": 982, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. 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hammer, pushing the peg further into the board hole."}, {"label": "subtasks", "start_step": 728, "end_step": 749, "id": "reasoning-language-00018", "text": "Right hand: reorient: Right hand rotates the yellow-headed wooden hammer upward, lifting the hammer head slightly away from the peg top."}, {"label": "subtasks", "start_step": 750, "end_step": 771, "id": "reasoning-language-00019", "text": "Right hand: press: Right hand presses the green peg on the wooden board downward with the yellow-headed wooden hammer, pushing the peg further into the board hole."}, {"label": "subtasks", "start_step": 772, "end_step": 794, "id": "reasoning-language-00020", "text": "Right hand: reorient: Right hand rotates the yellow-headed wooden hammer upward, lifting the hammer head slightly away from the peg top."}, {"label": "subtasks", "start_step": 795, "end_step": 817, "id": "reasoning-language-00021", "text": "Right hand: press: Right hand presses the green peg on the wooden board downward with the yellow-headed wooden hammer, pushing the peg further into the board hole."}, {"label": "subtasks", "start_step": 818, "end_step": 839, "id": "reasoning-language-00022", "text": "Right hand: reorient: Right hand rotates the yellow-headed wooden hammer upward, lifting the hammer head slightly away from the peg top."}, {"label": "subtasks", "start_step": 840, "end_step": 861, "id": "reasoning-language-00023", "text": "Right hand: press: Right hand presses the green peg on the wooden board downward with the yellow-headed wooden hammer, pushing the peg further into the board hole."}, {"label": "subtasks", "start_step": 862, "end_step": 884, "id": "reasoning-language-00024", "text": "Right hand: reorient: Right hand rotates the yellow-headed wooden hammer upward, lifting the hammer head slightly away from the peg top."}, {"label": "subtasks", "start_step": 885, "end_step": 907, "id": "reasoning-language-00025", "text": "Right hand: press: Right hand presses the green peg on the wooden board 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toy structure."}, {"label": "subtasks", "start_step": 802, "end_step": 831, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains partially visible at the left edge of the frame, empty and without any movement throughout the interval. | Right hand: transport: Right hand carries the lifted yellow-headed wooden mallet, moving it horizontally rightward through the air to the area above the right section of the black work surface."}, {"label": "subtasks", "start_step": 832, "end_step": 847, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains partially visible at the left edge of the frame, empty and without any movement throughout the interval. | Right hand: place_release: Right hand lowers the yellow-headed wooden mallet onto the black work surface to be supported by the surface, with fingers opening to release contact with the mallet handle."}, {"label": "subtasks", "start_step": 848, "end_step": 1011, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains partially visible at the left edge of the frame, empty and without any movement throughout the interval. | Right hand: idle: Right hand stays empty above the right side of the placed mallet, with no observable movement of the hand or fingers."}], "episode_index": 26} +{"source_uid": "d0163f601ed4dec4", "num_frames": 1122, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table.", "tags": {"task_name": "Hammer Nails", "task_instruction": "Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table.", "scene_description": "A hammer and two nails are placed on the table. 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"id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without moving. | Right hand: place: Right hand lowers the mallet downward until the mallet head rests on the red peg and is supported by the wooden peg board."}, {"label": "subtasks", "start_step": 562, "end_step": 621, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without moving. | Right hand: hold: Right hand holds the mallet steadily on the red peg with no observable movement of the hand or mallet."}, {"label": "subtasks", "start_step": 622, "end_step": 681, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without moving. | Right hand: press: Right hand holds the mallet and performs repeated short vertical up-and-down motions, pressing the wooden peg downward against the perforated wooden toy with the yellow mallet head."}, {"label": 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Left hand remains empty at the left edge of the frame without moving. | Right hand: lift: Right hand lifts the grasped mallet slightly upward until the entire mallet is fully raised off the black work surface."}, {"label": "subtasks", "start_step": 442, "end_step": 531, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without moving. | Right hand: transport: Right hand moves the lifted mallet leftward and downward through the air, positioning it above the red peg on the wooden peg board."}, {"label": "subtasks", "start_step": 532, "end_step": 561, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without moving. | Right hand: place: Right hand lowers the mallet downward until the mallet head rests on the red peg and is supported by the wooden peg board."}, {"label": "subtasks", "start_step": 562, "end_step": 621, "id": "reasoning-language-00007", "text": 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"start_step": 742, "end_step": 854, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without moving. | Right hand: press: Right hand holds the mallet and performs repeated short vertical up-and-down motions, pressing the wooden peg downward against the perforated wooden toy with the yellow mallet head."}, {"label": "subtasks", "start_step": 855, "end_step": 899, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without moving. | Right hand: grasp: Right hand adjusts finger positions around the wooden mallet handle to form a stable grip."}, {"label": "subtasks", "start_step": 900, "end_step": 997, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without moving. | Right hand: hold: Right hand holds the wooden mallet steadily against the wooden peg board without observable movement of the hand or 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{"label": "subtasks", "start_step": 885, "end_step": 992, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains at the left edge of the visible frame, empty and without any observable movement throughout the segment."}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 74, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains at the left edge of the visible frame, empty and without any observable movement throughout the segment. | Right hand: idle: Right hand stays at the top-right edge of the frame, empty and without observable movement toward the target object."}, {"label": "subtasks", "start_step": 75, "end_step": 141, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains at the left edge of the visible frame, empty and without any observable movement throughout the segment. | Right hand: reach: Right hand moves downward from the top-right edge of the frame toward the wooden handle of the 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"Left hand: idle: Left hand remains at the left edge of the visible frame, empty and without any observable movement throughout the segment. | Right hand: place: Right hand lowers the hammer and aligns its yellow head over the red peg on the toy, until the hammer head rests on the peg and the lower handle end contacts the mat for stable support."}, {"label": "subtasks", "start_step": 420, "end_step": 479, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains at the left edge of the visible frame, empty and without any observable movement throughout the segment. | Right hand: grasp: Right hand adjusts finger positions on the wooden hammer handle to form a stable grip, slightly shifting the handle to align the yellow hammer head with the red peg on the wooden pegboard."}, {"label": "subtasks", "start_step": 480, "end_step": 667, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains at the left edge of the visible frame, empty and without 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its fingers to establish grasp on the hammer's head."}, {"label": "subtasks", "start_step": 135, "end_step": 179, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without moving. | Right hand: grasp: Right hand grasps the wooden handle of the yellow hammer, with fingers closing and adjusting to firm the grip."}, {"label": "subtasks", "start_step": 180, "end_step": 239, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without moving."}, {"label": "subtasks", "start_step": 240, "end_step": 261, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without moving. | Right hand: transport_place: Right hand carries the yellow hammer rightward with slight clockwise rotation and places it flat on the black table surface."}, {"label": "subtasks", "start_step": 262, "end_step": 284, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without moving. | Right hand: release_retreat: Right hand releases the yellow hammer handle and retreats toward the upper right direction."}, {"label": "subtasks", "start_step": 285, "end_step": 359, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without moving. | Right hand: release_retreat: Right hand releases the yellow hammer on the black textured mat and moves upward to exit the frame."}, {"label": "home", "start_step": 325, "end_step": 472, "id": "P-Mf1mPqYi6pcDd6_mnrP"}, {"label": "subtasks", "start_step": 360, "end_step": 404, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without moving."}, {"label": "subtasks", "start_step": 405, "end_step": 419, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the 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"end_step": 471, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without moving. | Right hand: retreat: Right hand moves slightly to the right away from the wooden handle of the yellow hammer."}, {"label": "subtasks", "start_step": 472, "end_step": 472, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without moving."}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 7, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without moving. | Right hand: other:out_of_frame: Right hand is not visible outside the right edge of the frame."}, {"label": "subtasks", "start_step": 8, "end_step": 74, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without moving. | Right hand: reach: Right hand enters the frame from 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adjustment."}, {"label": "subtasks", "start_step": 660, "end_step": 695, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without moving. | Right hand: hold: Right hand holds the yellow head of the wooden mallet steadily on the black textured mat, with no observable movement of the hand or mallet."}], "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 edge of the frame without moving. | Right hand: idle: Right hand remains empty at the top-right edge of the frame without moving."}, {"label": "subtasks", "start_step": 52, "end_step": 179, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without moving. | Right hand: reach: Right hand moves downward from the top-right edge of the frame toward the wooden hammer with a yellow head placed on the right side of the black work surface, staying empty without establishing a grasp on the hammer."}, {"label": "subtasks", "start_step": 180, "end_step": 201, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without moving. | Right hand: reach: Right hand moves left toward the wooden handle of the yellow hammer resting on the black work surface, with fingers held open and no contact made with the handle."}, {"label": "subtasks", "start_step": 202, "end_step": 299, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without moving. | Right hand: grasp: Right hand makes initial light contact with the wooden handle of the yellow hammer, closes fingers around the handle and performs slight adjustments to hand and finger positions to establish a grip, with the hammer remaining on the black support surface."}, {"label": "subtasks", "start_step": 300, "end_step": 344, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without moving. | Right hand: lift: Right hand firmly grasps the wooden handle of the yellow hammer and lifts the hammer upward from the black work surface until the entire hammer is fully lifted off the surface."}, {"label": "subtasks", "start_step": 345, "end_step": 389, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without moving. | Right hand: transport: Right hand carries the fully lifted yellow hammer upward, while rotating the wrist to turn the hammer about a quarter turn to adjust its orientation."}, {"label": "subtasks", "start_step": 390, "end_step": 457, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without moving. | Right hand: place: Right hand holds the yellow hammer and moves it downward to lower the yellow hammer head 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"start_step": 45, "end_step": 149, "id": "reasoning-language-00001", "text": "Right hand: reach: Right hand enters from the right side of the frame and moves toward the yellow hammer with wooden handle on the black mat."}, {"label": "subtasks", "start_step": 150, "end_step": 179, "id": "reasoning-language-00002", "text": "Right hand: grasp: Right hand closes its fingers to grasp the wooden handle of the yellow hammer."}, {"label": "subtasks", "start_step": 180, "end_step": 231, "id": "reasoning-language-00003", "text": "Right hand: grasp: Right hand adjusts fingers to grasp the wooden handle of the yellow hammer on the black mat."}, {"label": "goal", "start_step": 226, "end_step": 490, "id": "27cfc79a-542a-4760-9edd-5f07674df32e"}, {"label": "subtasks", "start_step": 232, "end_step": 247, "id": "reasoning-language-00004", "text": "Right hand: lift: Right hand lifts the yellow hammer off the black mat."}, {"label": "subtasks", "start_step": 248, "end_step": 299, "id": 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"reasoning-language-00014", "text": "Right hand: transport: Right hand moves the yellow hammer upward away from the wooden base."}, {"label": "subtasks", "start_step": 622, "end_step": 681, "id": "reasoning-language-00015", "text": "Right hand: press: Right hand moves the yellow hammer downward to press the green peg on the wooden base."}, {"label": "subtasks", "start_step": 682, "end_step": 704, "id": "reasoning-language-00016", "text": "Right hand: transport: Right hand moves the yellow hammer upward away from the wooden base."}, {"label": "goal", "start_step": 701, "end_step": 825, "id": "12ff6fb5-fd9d-45e1-a25e-f847b165deff"}, {"label": "subtasks", "start_step": 705, "end_step": 809, "id": "reasoning-language-00017", "text": "Right hand: transport: Right hand holds the yellow hammer and moves it rightward above the black mat."}, {"label": "subtasks", "start_step": 810, "end_step": 824, "id": "reasoning-language-00018", "text": "Right hand: place_release: Right hand places the 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Right hand moves upward to lift the grasped wooden mallet, raising the entire mallet completely off the black supporting mat."}, {"label": "subtasks", "start_step": 285, "end_step": 367, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without moving. | Right hand: transport: Right hand carries the suspended wooden mallet through the air toward the wooden peg board, positioning the yellow mallet head directly above the red peg on the board."}, {"label": "subtasks", "start_step": 368, "end_step": 419, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without moving. | Right hand: place: Right hand moves the wooden mallet downward to place the yellow mallet head onto the red peg mounted on the wooden peg board."}, {"label": "subtasks", "start_step": 420, "end_step": 501, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without moving. | Right hand: grasp: Right hand adjusts finger positions along the lower section of the wooden mallet handle, shifting contact points to begin establishing a stable grip on the mallet."}, {"label": "subtasks", "start_step": 502, "end_step": 531, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without moving. | Right hand: hold: Right hand holds the wooden mallet steadily, with no observable finger, wrist or mallet movement."}, {"label": "subtasks", "start_step": 532, "end_step": 667, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without moving. | Right hand: grasp: Right hand continues adjusting finger positions further up the wooden mallet handle, repositioning contact points to finalize a stable grip on the mallet."}, {"label": "subtasks", "start_step": 668, "end_step": 704, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without moving. | Right hand: reorient: Right hand rotates the gripped wooden mallet around the pivot of its handle end resting on the black work surface, tilting the yellow mallet head downward toward the small peg on the wooden pegboard."}, {"label": "subtasks", "start_step": 705, "end_step": 719, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without moving. | Right hand: press: Right hand applies downward force on the gripped mallet, pressing the yellow mallet head against the small peg on the wooden pegboard."}, {"label": "subtasks", "start_step": 720, "end_step": 787, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without moving. | Right hand: lift_transport: Right hand grips the wooden mallet, lifts it off the left black surface and away from the peg toy, transports it rightward to the right area of the black surface, with the mallet's wooden lower end touching the surface at the end of the movement."}, {"label": "subtasks", "start_step": 788, "end_step": 824, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without moving. | Right hand: hold: Right hand holds the wooden mallet vertically upright on the right black surface without any observable movement or finger adjustment."}, {"label": "subtasks", "start_step": 825, "end_step": 854, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without moving. | Right hand: place_release: Right hand tilts the wooden mallet downward to place it flat and fully supported on the right black surface, opens fingers to release the mallet handle, and stays stationary with fingers resting on the mallet's yellow head."}, {"label": "subtasks", "start_step": 855, "end_step": 914, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without moving. | Right hand: retreat: Right hand moves upward away from the black table surface while empty, retreating out of the top edge of the frame."}, {"label": "subtasks", "start_step": 915, "end_step": 1029, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without moving."}], "episode_index": 97} +{"source_uid": "6f860cd2210bfa30", "num_frames": 690, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Hammer_Nails_v2", "tags": {"task_name": "Hammer_Nails_v2", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "B", "SOP": ""}, "segments": [{"label": "valid", "start_step": 0, "end_step": 541, "id": "ss6Vuu3hHzNwgJ7vsLjzK"}, {"label": "subtasks", "start_step": 75, "end_step": 134, "id": "reasoning-language-00001", "text": "Right hand: reach: Right hand moves down and left from the top right edge of the frame toward the yellow-headed hammer on the black mat."}, {"label": "subtasks", "start_step": 135, "end_step": 149, "id": "reasoning-language-00002", "text": "Right hand: grasp: Right hand grasps the upper handle of the yellow-headed hammer on the black mat with fingers closing around it."}, {"label": "subtasks", "start_step": 150, "end_step": 187, "id": "reasoning-language-00003", "text": "Right hand: grasp: Right hand grasps the wooden handle of the yellow hammer on the black mat, with fingers closing around the handle."}, {"label": "subtasks", "start_step": 188, "end_step": 224, "id": "reasoning-language-00004", "text": "Right hand: hold: Right hand holds the wooden handle of the yellow hammer on the black mat without moving."}, {"label": "subtasks", "start_step": 225, "end_step": 239, "id": "reasoning-language-00005", "text": "Right hand: grasp: Right hand adjusts its grip on the wooden handle of the yellow hammer resting on the black table surface to form a stable grasp."}, {"label": "subtasks", "start_step": 240, "end_step": 374, "id": "reasoning-language-00006", "text": "Right hand: lift_transport: Right hand lifts the yellow hammer off the black table surface, transports it leftward and rotates it to position the yellow hammer head above the red peg on the wooden board."}, {"label": "subtasks", "start_step": 375, "end_step": 389, "id": "reasoning-language-00007", "text": "Right hand: transport: Right hand moves the yellow hammer downward to make contact with the red peg on the wooden base."}, {"label": "subtasks", "start_step": 390, "end_step": 404, "id": "reasoning-language-00008", "text": "Right hand: hold: Right hand holds the yellow hammer with its head resting against the right side of the wooden toy without moving."}, {"label": "subtasks", "start_step": 405, "end_step": 441, "id": "reasoning-language-00009", "text": "Right hand: transport: Right hand holds the wooden handle of the yellow hammer and moves it rightward above the black table surface."}, {"label": "subtasks", "start_step": 442, "end_step": 471, "id": "reasoning-language-00010", "text": "Right hand: hold: Right hand holds the yellow hammer upright on the right area of the black table without moving."}, {"label": "subtasks", "start_step": 472, "end_step": 487, "id": "reasoning-language-00011", "text": "Right hand: reorient_release: Right hand rotates the yellow hammer about 90 degrees to lie flat on the right table area and releases its grip on the handle."}, {"label": "subtasks", "start_step": 488, "end_step": 509, "id": "reasoning-language-00012", "text": "Right hand: idle: Right hand remains empty next to the yellow hammer on the right without moving."}, {"label": "subtasks", "start_step": 510, "end_step": 554, "id": "reasoning-language-00013", "text": "Right hand: release_retreat: Right hand releases the yellow hammer on the black textured mat and moves upward toward the top right of the frame."}, {"label": "home", "start_step": 542, "end_step": 689, "id": "PbgQ1B4r9C5e7QOUfEidW"}, {"label": "subtasks", "start_step": 675, "end_step": 689, "id": "reasoning-language-00014", "text": "Right hand: grasp_lift: Right hand grasps the yellow head of the hammer on the right side of the black mat and lifts the head end of the hammer slightly upward."}], "language_segments": [{"label": "subtasks", "start_step": 75, "end_step": 134, "id": "reasoning-language-00001", "text": "Right hand: reach: Right hand moves down and left from the top right edge of the frame toward the yellow-headed hammer on the black mat."}, {"label": "subtasks", "start_step": 135, "end_step": 149, "id": "reasoning-language-00002", "text": "Right hand: grasp: Right hand grasps the upper handle of the yellow-headed hammer on the black mat with fingers closing around it."}, {"label": "subtasks", "start_step": 150, "end_step": 187, "id": "reasoning-language-00003", "text": "Right hand: grasp: Right hand grasps the wooden handle of the yellow hammer on the black mat, with fingers closing around the handle."}, {"label": "subtasks", "start_step": 188, "end_step": 224, "id": "reasoning-language-00004", "text": "Right hand: hold: Right hand holds the wooden handle of the yellow hammer on the black mat without moving."}, {"label": "subtasks", "start_step": 225, "end_step": 239, "id": "reasoning-language-00005", "text": "Right hand: grasp: Right hand adjusts its grip on the wooden handle of the yellow hammer resting on the black table surface to form a stable grasp."}, {"label": "subtasks", "start_step": 240, "end_step": 374, "id": "reasoning-language-00006", "text": "Right hand: lift_transport: Right hand lifts the yellow hammer off the black table surface, transports it leftward and rotates it to position the yellow hammer head above the red peg on the wooden board."}, {"label": "subtasks", "start_step": 375, "end_step": 389, "id": "reasoning-language-00007", "text": "Right hand: transport: Right hand moves the yellow hammer downward to make contact with the red peg on the wooden base."}, {"label": "subtasks", "start_step": 390, "end_step": 404, "id": "reasoning-language-00008", "text": "Right hand: hold: Right hand holds the yellow hammer with its head resting against the right side of the wooden toy without moving."}, {"label": "subtasks", "start_step": 405, "end_step": 441, "id": "reasoning-language-00009", "text": "Right hand: transport: Right hand holds the wooden handle of the yellow hammer and moves it rightward above the black table surface."}, {"label": "subtasks", "start_step": 442, "end_step": 471, "id": "reasoning-language-00010", "text": "Right hand: hold: Right hand holds the yellow hammer upright on the right area of the black table without moving."}, {"label": "subtasks", "start_step": 472, "end_step": 487, "id": "reasoning-language-00011", "text": "Right hand: reorient_release: Right hand rotates the yellow hammer about 90 degrees to lie flat on the right table area and releases its grip on the handle."}, {"label": "subtasks", "start_step": 488, "end_step": 509, "id": "reasoning-language-00012", "text": "Right hand: idle: Right hand remains empty next to the yellow hammer on the right without moving."}, {"label": "subtasks", "start_step": 510, "end_step": 554, "id": "reasoning-language-00013", "text": "Right hand: release_retreat: Right hand releases the yellow hammer on the black textured mat and moves upward toward the top right of the frame."}, {"label": "subtasks", "start_step": 675, "end_step": 689, "id": "reasoning-language-00014", "text": "Right hand: grasp_lift: Right hand grasps the yellow head of the hammer on the right side of the black mat and lifts the head end of the hammer slightly upward."}], "episode_index": 98} +{"source_uid": "5b5d222971f0607e", "num_frames": 1040, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Hammer_Nails_v2", "tags": {"task_name": "Hammer_Nails_v2", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "B", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 59, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty outside the visible operational area of the frame without moving. | Right hand: idle: Right hand remains empty outside the right edge of the frame without moving."}, {"label": "goal", "start_step": 0, "end_step": 260, "id": "d5739392-6177-4e8c-a36d-4f2dc5075be9"}, {"label": "valid", "start_step": 0, "end_step": 890, "id": "NiIT9X0SEoLeinCpRswde"}, {"label": "subtasks", "start_step": 60, "end_step": 149, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty outside the visible operational area of the frame without moving. | Right hand: reach: Right hand enters from the right edge of the frame, moves left toward the wooden mallet on the black textured mat with open fingers."}, {"label": "subtasks", "start_step": 150, "end_step": 277, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty outside the visible operational area of the frame without moving. | Right hand: grasp: Right hand closes fingers around the wooden handle of the mallet, adjusts finger positions to form a stable grip while the mallet remains resting on the mat."}, {"label": "goal", "start_step": 261, "end_step": 485, "id": "782317d8-87de-4ffc-a0ca-a4f1d416ab45"}, {"label": "subtasks", "start_step": 278, "end_step": 299, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty outside the visible operational area of the frame without moving. | Right hand: lift: Right hand lifts the grasped wooden mallet upward until the entire mallet is fully separated from the black supporting mat."}, {"label": "subtasks", "start_step": 300, "end_step": 404, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty outside the visible operational area of the frame without moving. | Right hand: transport: Right hand carries the lifted wooden mallet leftward toward the wooden peg toy, rotating the mallet to a vertical orientation as it moves to position the mallet head above the red peg on the toy."}, {"label": "subtasks", "start_step": 405, "end_step": 517, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty outside the visible operational area of the frame without moving. | Right hand: grasp: Right hand adjusts finger positions slightly to establish a stable grasp on the wooden mallet handle."}, {"label": "goal", "start_step": 486, "end_step": 670, "id": "e24aa4d1-4757-4a7a-ae62-3b09e6cb805f"}, {"label": "subtasks", "start_step": 518, "end_step": 531, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty outside the visible operational area of the frame without moving. | Right hand: lift: Right hand lifts the grasped wooden mallet upward, raising the mallet's bottom end completely off the black supporting surface."}, {"label": "subtasks", "start_step": 532, "end_step": 554, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty outside the visible operational area of the frame without moving. | Right hand: transport_press: Right hand moves the lifted wooden mallet downward toward the top of the red peg, and presses the mallet head against the red peg top to apply striking force."}, {"label": "subtasks", "start_step": 555, "end_step": 621, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty outside the visible operational area of the frame without moving. | Right hand: grasp: Right hand adjusts finger positions slightly to re-stabilize the grasp on the wooden mallet handle after the first strike."}, {"label": "subtasks", "start_step": 622, "end_step": 681, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty outside the visible operational area of the frame without moving. | Right hand: hold: Right hand holds the wooden mallet steadily without any observable hand, finger or mallet movement."}, {"label": "goal", "start_step": 671, "end_step": 870, "id": "393657b0-c4a6-4c63-8ef1-a7dbdf3d258d"}, {"label": "subtasks", "start_step": 682, "end_step": 779, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty outside the visible operational area of the frame without moving. | Right hand: transport_press: Right hand moves the held wooden mallet upward then downward toward the red peg top, and presses the mallet head against the red peg to drive it into the wooden base."}, {"label": "subtasks", "start_step": 780, "end_step": 794, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty outside the visible operational area of the frame without moving. | Right hand: lift: Right hand firmly holds the wooden mallet and lifts it upward to fully separate it from the wooden perforated platform."}, {"label": "subtasks", "start_step": 795, "end_step": 847, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty outside the visible operational area of the frame without moving. | Right hand: transport: Right hand carries the lifted wooden mallet, moving it horizontally rightward to the position directly above the right section of the black work surface."}, {"label": "subtasks", "start_step": 848, "end_step": 861, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty outside the visible operational area of the frame without moving. | Right hand: place_release: Right hand lowers the wooden mallet onto the black work surface, opens its fingers to release the mallet as the mallet rests stably on the surface."}, {"label": "subtasks", "start_step": 862, "end_step": 899, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty outside the visible operational area of the frame without moving. | Right hand: retreat: Right hand, now empty, moves upward and rightward away from the mallet placement position to the upper right of the visible area."}, {"label": "home", "start_step": 891, "end_step": 1039, "id": "xO6no0_u40A9lLCOmG9u8"}, {"label": "subtasks", "start_step": 900, "end_step": 1039, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty outside the visible operational area of the frame without moving. | Right hand: idle: Right hand stays empty and motionless at the upper right of the visible area with no observable movement."}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 59, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty outside the visible operational area of the frame without moving. | Right hand: idle: Right hand remains empty outside the right edge of the frame without moving."}, {"label": "subtasks", "start_step": 60, "end_step": 149, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty outside the visible operational area of the frame without moving. | Right hand: reach: Right hand enters from the right edge of the frame, moves left toward the wooden mallet on the black textured mat with open fingers."}, {"label": "subtasks", "start_step": 150, "end_step": 277, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty outside the visible operational area of the frame without moving. | Right hand: grasp: Right hand closes fingers around the wooden handle of the mallet, adjusts finger positions to form a stable grip while the mallet remains resting on the mat."}, {"label": "subtasks", "start_step": 278, "end_step": 299, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty outside the visible operational area of the frame without moving. | Right hand: lift: Right hand lifts the grasped wooden mallet upward until the entire mallet is fully separated from the black supporting mat."}, {"label": "subtasks", "start_step": 300, "end_step": 404, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty outside the visible operational area of the frame without moving. | Right hand: transport: Right hand carries the lifted wooden mallet leftward toward the wooden peg toy, rotating the mallet to a vertical orientation as it moves to position the mallet head above the red peg on the toy."}, {"label": "subtasks", "start_step": 405, "end_step": 517, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty outside the visible operational area of the frame without moving. | Right hand: grasp: Right hand adjusts finger positions slightly to establish a stable grasp on the wooden mallet handle."}, {"label": "subtasks", "start_step": 518, "end_step": 531, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty outside the visible operational area of the frame without moving. | Right hand: lift: Right hand lifts the grasped wooden mallet upward, raising the mallet's bottom end completely off the black supporting surface."}, {"label": "subtasks", "start_step": 532, "end_step": 554, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty outside the visible operational area of the frame without moving. | Right hand: transport_press: Right hand moves the lifted wooden mallet downward toward the top of the red peg, and presses the mallet head against the red peg top to apply striking force."}, {"label": "subtasks", "start_step": 555, "end_step": 621, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty outside the visible operational area of the frame without moving. | Right hand: grasp: Right hand adjusts finger positions slightly to re-stabilize the grasp on the wooden mallet handle after the first strike."}, {"label": "subtasks", "start_step": 622, "end_step": 681, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty outside the visible operational area of the frame without moving. | Right hand: hold: Right hand holds the wooden mallet steadily without any observable hand, finger or mallet movement."}, {"label": "subtasks", "start_step": 682, "end_step": 779, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty outside the visible operational area of the frame without moving. | Right hand: transport_press: Right hand moves the held wooden mallet upward then downward toward the red peg top, and presses the mallet head against the red peg to drive it into the wooden base."}, {"label": "subtasks", "start_step": 780, "end_step": 794, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty outside the visible operational area of the frame without moving. | Right hand: lift: Right hand firmly holds the wooden mallet and lifts it upward to fully separate it from the wooden perforated platform."}, {"label": "subtasks", "start_step": 795, "end_step": 847, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty outside the visible operational area of the frame without moving. | Right hand: transport: Right hand carries the lifted wooden mallet, moving it horizontally rightward to the position directly above the right section of the black work surface."}, {"label": "subtasks", "start_step": 848, "end_step": 861, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty outside the visible operational area of the frame without moving. | Right hand: place_release: Right hand lowers the wooden mallet onto the black work surface, opens its fingers to release the mallet as the mallet rests stably on the surface."}, {"label": "subtasks", "start_step": 862, "end_step": 899, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty outside the visible operational area of the frame without moving. | Right hand: retreat: Right hand, now empty, moves upward and rightward away from the mallet placement position to the upper right of the visible area."}, {"label": "subtasks", "start_step": 900, "end_step": 1039, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty outside the visible operational area of the frame without moving. | Right hand: idle: Right hand stays empty and motionless at the upper right of the visible area with no observable movement."}], "episode_index": 99} +{"source_uid": "a3afc46db508b092", "num_frames": 1166, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Hammer_Nails_v2", "tags": {"task_name": "Hammer_Nails_v2", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "B", "SOP": ""}, "segments": [{"label": "goal", "start_step": 0, "end_step": 315, "id": "a80fcd44-2b0c-43c4-a1d6-fe29eae52fe7"}, {"label": "valid", "start_step": 0, "end_step": 1017, "id": "1SdLrNvaPh15xzEmVOT9Z"}, {"label": "subtasks", "start_step": 75, "end_step": 164, "id": "reasoning-language-00001", "text": "Right hand: reach: Right hand moves downward from the top right edge of the frame toward the wooden handle of the yellow-headed hammer, with fingers held slightly open as it approaches the target without making contact."}, {"label": "subtasks", "start_step": 165, "end_step": 284, "id": "reasoning-language-00002", "text": "Right hand: grasp: Right hand makes initial contact with the wooden handle of the hammer, closes fingers around the handle, and makes small positional adjustments to the fingers to establish a secure grip while the hammer remains resting on the work surface."}, {"label": "subtasks", "start_step": 285, "end_step": 314, "id": "reasoning-language-00003", "text": "Right hand: hold: Right hand holds the wooden handle of the yellow mallet resting on the black work surface without any observable movement."}, {"label": "subtasks", "start_step": 315, "end_step": 344, "id": "reasoning-language-00004", "text": "Right hand: lift: Right hand lifts the yellow mallet upward from the black work surface, with fingers wrapped around the wooden handle until the mallet fully leaves the surface."}, {"label": "goal", "start_step": 316, "end_step": 575, "id": "a3ec7eaa-4c5f-49e1-9720-85dbb161fac5"}, {"label": "subtasks", "start_step": 345, "end_step": 397, "id": "reasoning-language-00005", "text": "Right hand: transport: Right hand carries the lifted yellow mallet leftward through the air, moving it toward the wooden peg platform."}, {"label": "subtasks", "start_step": 398, "end_step": 471, "id": "reasoning-language-00006", "text": "Right hand: place: Right hand lowers the yellow mallet toward the wooden peg platform, adjusting position until the wooden handle makes contact with the platform surface."}, {"label": "subtasks", "start_step": 472, "end_step": 509, "id": "reasoning-language-00007", "text": "Right hand: hold: Right hand holds the yellow mallet steady with its wooden handle resting on the wooden peg platform, without observable movement."}, {"label": "subtasks", "start_step": 510, "end_step": 599, "id": "reasoning-language-00008", "text": "Right hand: grasp: Right hand adjusts finger contact points and wrist angle slightly on the wooden mallet handle to stabilize its grip, with the mallet resting against the wooden peg board and its bottom end on the black work surface."}, {"label": "goal", "start_step": 576, "end_step": 765, "id": "33080ebe-d9ad-461f-a5b9-2bbbe7773441"}, {"label": "subtasks", "start_step": 600, "end_step": 659, "id": "reasoning-language-00009", "text": "Right hand: other:adjust_mallet_alignment: Right hand shifts the wooden mallet slightly upward and toward the target green peg, adjusting the mallet's alignment with the peg while its bottom end slides along the black work surface."}, {"label": "subtasks", "start_step": 660, "end_step": 681, "id": "reasoning-language-00010", "text": "Right hand: hold: Right hand holds the aligned wooden mallet steadily without observable movement, keeping the mallet head positioned over the target green peg."}, {"label": "subtasks", "start_step": 682, "end_step": 794, "id": "reasoning-language-00011", "text": "Right hand: press: Right hand applies downward force to the wooden mallet handle, pressing the mallet head down against the target green peg on the wooden peg board."}, {"label": "goal", "start_step": 766, "end_step": 960, "id": "3b142e32-fb4a-48ab-87c1-70768277c874"}, {"label": "subtasks", "start_step": 795, "end_step": 809, "id": "reasoning-language-00012", "text": "Right hand: grasp: Right hand makes slight finger adjustments to stabilize its grasp on the wooden mallet handle."}, {"label": "subtasks", "start_step": 810, "end_step": 831, "id": "reasoning-language-00013", "text": "Right hand: lift: Right hand lifts the grasped wooden mallet upward, fully separating it from the supporting wooden toy structure."}, {"label": "subtasks", "start_step": 832, "end_step": 869, "id": 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"start_step": 960, "end_step": 1004, "id": "reasoning-language-00018", "text": "Right hand: retreat: Right hand moves upward away from the mallet while remaining empty, retreating from the previous operation position."}, {"label": "home", "start_step": 1018, "end_step": 1165, "id": "pkCpbG24gEYLg1tfe5nGW"}], "language_segments": [{"label": "subtasks", "start_step": 75, "end_step": 164, "id": "reasoning-language-00001", "text": "Right hand: reach: Right hand moves downward from the top right edge of the frame toward the wooden handle of the yellow-headed hammer, with fingers held slightly open as it approaches the target without making contact."}, {"label": "subtasks", "start_step": 165, "end_step": 284, "id": "reasoning-language-00002", "text": "Right hand: grasp: Right hand makes initial contact with the wooden handle of the hammer, closes fingers around the handle, and makes small positional adjustments to the fingers to establish a secure grip while the hammer remains resting on the 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stationary at the left edge of the frame before moving out of view. | Right hand: idle: Right hand remains empty and stationary at the top right edge of the frame, with no movement toward objects."}, {"label": "goal", "start_step": 0, "end_step": 295, "id": "d93e3bd3-0e8c-4f58-8af5-6882e7c7dc93"}, {"label": "valid", "start_step": 0, "end_step": 867, "id": "U6_FawNgmVJTRleXg0JD0"}, {"label": "subtasks", "start_step": 90, "end_step": 179, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty with no observable operational movement throughout the segment, initially stationary at the left edge of the frame before moving out of view. | Right hand: reach: Right hand moves downward from the top right edge of the frame toward the wooden handle of the yellow hammer, remaining empty without contacting the handle."}, {"label": "subtasks", "start_step": 180, "end_step": 269, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty with no observable operational movement throughout the segment, initially stationary at the left edge of the frame before moving out of view. | Right hand: grasp: Right hand contacts the wooden handle of the yellow hammer, closes fingers around the handle and makes small adjustments to finger positions to form a grip, with the hammer resting on the black fabric surface."}, {"label": "subtasks", "start_step": 270, "end_step": 299, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty with no observable operational movement throughout the segment, initially stationary at the left edge of the frame before moving out of view. | Right hand: grasp: Right hand adjusts its fingers around the handle of the wooden hammer resting on the black work surface to establish a stable grip, with the hammer remaining stationary on the surface."}, {"label": "goal", "start_step": 296, "end_step": 470, "id": "e0a0e787-e054-4688-9cf3-45a63fdbaece"}, {"label": "subtasks", "start_step": 300, "end_step": 321, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty with no observable operational movement throughout the segment, initially stationary at the left edge of the frame before moving out of view. | Right hand: lift: Right hand lifts the stably grasped wooden hammer upward, until the entire hammer is fully separated from the black work surface."}, {"label": "subtasks", "start_step": 322, "end_step": 374, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty with no observable operational movement throughout the segment, initially stationary at the left edge of the frame before moving out of view. | Right hand: transport: Right hand carries the fully lifted wooden hammer leftward and slightly downward through the air toward the central wooden peg toy, rotating the hammer about a quarter turn clockwise as it moves to orient the yellow hammer head toward the pegs on the toy."}, {"label": "subtasks", "start_step": 375, "end_step": 561, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty with no observable operational movement throughout the segment, initially stationary at the left edge of the frame before moving out of view. | Right hand: grasp: Right hand makes small positional adjustments to the wooden hammer, slightly shifting its wrist and adjusting finger contact points on the wooden handle to align the yellow hammer head with the yellow cylindrical peg on the wooden toy."}, {"label": "goal", "start_step": 471, "end_step": 740, "id": "5a735ce5-9224-4ebf-ae19-54591ce35ea3"}, {"label": "subtasks", "start_step": 562, "end_step": 741, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty with no observable operational movement throughout the segment, initially stationary at the left edge of the frame before moving out of view. | Right hand: press: Right hand applies downward vertical pressure on the yellow cylindrical peg using the yellow hammer head, pressing the peg into the hole on the wooden toy."}, {"label": "goal", "start_step": 741, "end_step": 850, "id": "36488a1f-72be-49e5-964f-92224dbe40c9"}, {"label": "subtasks", "start_step": 742, "end_step": 764, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty with no observable operational movement throughout the segment, initially stationary at the left edge of the frame before moving out of view. | Right hand: release: Right hand opens its fingers to release the wooden hammer handle, separating its digits from the hammer surface."}, {"label": "subtasks", "start_step": 765, "end_step": 779, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty with no observable operational movement throughout the segment, initially stationary at the left edge of the frame before moving out of view. | Right hand: grasp: Right hand adjusts finger positions to close around and form a stable grip on the 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the top right edge of the camera view, with no observable actions or interactions with objects in the scene."}, {"label": "subtasks", "start_step": 930, "end_step": 1015, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty with no observable operational movement throughout the segment, initially stationary at the left edge of the frame before moving out of view."}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 89, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty with no observable operational movement throughout the segment, initially stationary at the left edge of the frame before moving out of view. | Right hand: idle: Right hand remains empty and stationary at the top right edge of the frame, with no movement toward objects."}, {"label": "subtasks", "start_step": 90, "end_step": 179, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty with no observable operational movement throughout the segment, initially stationary at the left edge of the frame before moving out of view. | Right hand: reach: Right hand moves downward from the top right edge of the frame toward the wooden handle of the yellow hammer, remaining empty without contacting the handle."}, {"label": "subtasks", "start_step": 180, "end_step": 269, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty with no observable operational movement throughout the segment, initially stationary at the left edge of the frame before moving out of view. | Right hand: grasp: Right hand contacts the wooden handle of the yellow hammer, closes fingers around the handle and makes small adjustments to finger positions to form a grip, with the hammer resting on the black fabric surface."}, {"label": "subtasks", "start_step": 270, "end_step": 299, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty with no observable operational movement throughout the segment, initially stationary at the left edge of the frame before moving out of view. | Right hand: grasp: Right hand adjusts its fingers around the handle of the wooden hammer resting on the black work surface to establish a stable grip, with the hammer remaining stationary on the surface."}, {"label": "subtasks", "start_step": 300, "end_step": 321, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty with no observable operational movement throughout the segment, initially stationary at the left edge of the frame before moving out of view. | Right hand: lift: Right hand lifts the stably grasped wooden hammer upward, until the entire hammer is fully separated from the black work surface."}, {"label": "subtasks", "start_step": 322, "end_step": 374, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty with no observable operational movement throughout the segment, initially stationary at the left edge 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edge of the frame before moving out of view. | Right hand: grasp: Right hand adjusts finger positions to close around and form a stable grip on the wooden handle of the hammer resting on the wooden peg platform."}, {"label": "subtasks", "start_step": 780, "end_step": 824, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty with no observable operational movement throughout the segment, initially stationary at the left edge of the frame before moving out of view. | Right hand: lift_transport: Right hand lifts the hammer completely off the wooden peg platform and transports it rightward across the black textured mat to the area right of the platform."}, {"label": "subtasks", "start_step": 825, "end_step": 854, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty with no observable operational movement throughout the segment, initially stationary at the left edge of the frame before moving out of view. | Right hand: place_release: Right hand lowers the hammer downward to set its wooden handle on the black mat surface and opens its fingers to release all contact with the hammer handle, remaining stationary next to the placed hammer at the end of the segment."}, {"label": "subtasks", "start_step": 855, "end_step": 907, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty with no observable operational movement throughout the segment, initially stationary at the left edge of the frame before moving out of view. | Right hand: retreat: Right hand stays empty, moves upward and toward the top right direction, retreating away from the position adjacent to the wooden mallet on the black textured work surface."}, {"label": "subtasks", "start_step": 908, "end_step": 929, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty with no observable operational movement throughout the segment, initially stationary at the left edge of the frame before moving out of view. | Right hand: other:out_of_view: Right hand is outside the top right edge of the camera view, with no observable actions or interactions with objects in the scene."}, {"label": "subtasks", "start_step": 930, "end_step": 1015, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty with no observable operational movement throughout the segment, initially stationary at the left edge of the frame before moving out of view."}], "episode_index": 104} +{"source_uid": "73bbe4b27c83856f", "num_frames": 1001, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. 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around the wooden handle of the yellow-headed hammer, making slight grip adjustments."}, {"label": "subtasks", "start_step": 255, "end_step": 321, "id": "reasoning-language-00004", "text": "Right hand: grasp: Right hand adjusts its grasp on the wooden handle of the yellow-headed hammer resting on the black table surface, repositioning slightly along the handle to stabilize the grip."}, {"label": "subtasks", "start_step": 322, "end_step": 344, "id": "reasoning-language-00005", "text": "Right hand: lift: Right hand lifts the yellow-headed hammer off the black table surface, moving it upward and slightly leftward."}, {"label": "subtasks", "start_step": 345, "end_step": 449, "id": "reasoning-language-00006", "text": "Right hand: transport: Right hand transports the yellow-headed hammer up-leftward while rotating it clockwise by about 90 degrees, moving toward the wooden pegboard."}, {"label": "subtasks", "start_step": 495, "end_step": 577, "id": "reasoning-language-00007", "text": "Right 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idle: Right hand remains empty at the right side of the frame without moving."}, {"label": "subtasks", "start_step": 810, "end_step": 854, "id": "reasoning-language-00012", "text": "Right hand: retreat: Right hand retreats rightward from the area near the yellow hammer toward the right edge of the frame."}], "episode_index": 118} +{"source_uid": "7be41bbe9207ef24", "num_frames": 880, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table.", "tags": {"task_name": "Hammer Nails", "task_instruction": "Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table.", "scene_description": "A hammer and two nails are placed on the table. 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Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table.", "tags": {"task_name": "Hammer Nails", "task_instruction": "Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table.", "scene_description": "A hammer and two nails are placed on the table. 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"/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData/Hammer_Nails_v2/season_POC22048_2026_05_22_10_21_37_train/POC22048_2026_05_22_14_47_36_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/hammer_nails/season_POC22048_2026_05_22_10_21_37_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 114, "v40_language_source": "previous_published_lerobot", "episode_index": 157} +{"source_uid": "e73dddd95575caed", "num_frames": 1094, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Hammer_Nails_v2", "tags": {"task_name": "Hammer_Nails_v2", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "B", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 127, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand is not visible in the frame throughout the segment, with no observable movement or contact with any objects. | Right hand: reach: Right hand remains out of frame and stationary at frame 0, enters the frame from the top-right corner, moves downward toward the light brown wooden handle of the yellow-headed hammer with fingers slightly spread."}, {"label": "goal", "start_step": 0, "end_step": 235, "id": "949b755b-c053-4938-8a68-7f38e1c27154"}, {"label": "valid", "start_step": 1, "end_step": 945, "id": "vchGErBZ7CV3r-D2LkdlQ"}, {"label": "subtasks", "start_step": 128, "end_step": 194, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand is not visible in the frame throughout the segment, with no observable movement or contact with any objects. | Right hand: grasp: Right hand makes contact with the wooden hammer handle, closes fingers gradually around the handle and adjusts finger positions to establish a grip on the hammer resting on the black textured surface."}, {"label": "subtasks", "start_step": 195, "end_step": 231, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand is not visible in the frame throughout the segment, with no observable movement or contact with any objects. | Right hand: grasp: Right hand closes fingers around the wooden handle of the hammer resting on the black work surface to form a stable grip."}, {"label": "subtasks", "start_step": 232, "end_step": 254, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand is not visible in the frame throughout the segment, with no observable movement or contact with any objects. | Right hand: lift: Right hand lifts the grasped hammer upward until the hammer is fully separated from the black work surface."}, {"label": "goal", "start_step": 236, "end_step": 550, "id": "5ac462b2-e1b2-40ee-a063-458bd77efaff"}, {"label": "subtasks", "start_step": 255, "end_step": 314, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand is not visible in the frame throughout the segment, with no observable movement or contact with any objects. | Right hand: transport: Right hand moves the lifted hammer leftward and upward to position it above the red peg on the wooden peg board."}, {"label": "subtasks", "start_step": 315, "end_step": 389, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand is not visible in the frame throughout the segment, with no observable movement or contact with any objects. | Right hand: hold: Right hand holds the hammer stationary above the red peg on the wooden peg board with no observable movement of hand, fingers or the hammer."}, {"label": "subtasks", "start_step": 390, "end_step": 434, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand is not visible in the frame throughout the segment, with no observable movement or contact with any objects. | Right hand: transport_press: Right hand grips the wooden-handled hammer with a yellow head, moves vertically downward to apply downward pressure on the red peg on the light brown wooden pegboard, driving the peg into the board."}, {"label": "subtasks", "start_step": 435, "end_step": 584, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand is not visible in the frame throughout the segment, with no observable movement or contact with any objects. | Right hand: hold: Right hand holds the wooden-handled hammer stationary over the pegboard, with the yellow hammer head resting on the pressed peg, no observable movement of the hand or hammer."}, {"label": "goal", "start_step": 551, "end_step": 815, "id": "b1c14666-606f-4052-bc6f-2831cfb1c86f"}, {"label": "subtasks", "start_step": 585, "end_step": 599, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand is not visible in the frame throughout the segment, with no observable movement or contact with any objects. | Right hand: lift: Right hand grips the wooden hammer handle and lifts the hammer slightly upward, raising the yellow hammer head completely off the wooden peg bench surface."}, {"label": "subtasks", "start_step": 600, "end_step": 734, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand is not visible in the frame throughout the segment, with no observable movement or contact with any objects. | Right hand: transport: Right hand carries the lifted hammer, shifting horizontally and making slight rotational adjustments to align the yellow hammer head directly over the red peg on the wooden peg bench, with minor finger adjustments to maintain a stable grip on the handle."}, {"label": "subtasks", "start_step": 735, "end_step": 854, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand is not visible in the frame throughout the segment, with no observable movement or contact with any objects."}, {"label": "goal", "start_step": 816, "end_step": 925, "id": "07364bc0-2111-4a8f-8a1c-04de4d33bdb1"}, {"label": "subtasks", "start_step": 855, "end_step": 869, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand is not visible in the frame throughout the segment, with no observable movement or contact with any objects. | Right hand: lift: Right hand grips the wooden hammer handle, lifting the hammer vertically upward off the wooden peg board until it fully separates from the board surface."}, {"label": "subtasks", "start_step": 870, "end_step": 907, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand is not visible in the frame throughout the segment, with no observable movement or contact with any objects. | Right hand: transport: Right hand holds the lifted wooden hammer, moving it horizontally right across the black mat toward the right resting position."}, {"label": "subtasks", "start_step": 908, "end_step": 929, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand is not visible in the frame throughout the segment, with no observable movement or contact with any objects. | Right hand: place_release: Right hand lowers the hammer downward to rest on the right black mat, opening fingers to release 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or contact with any objects. | Right hand: reach: Right hand remains out of frame and stationary at frame 0, enters the frame from the top-right corner, moves downward toward the light brown wooden handle of the yellow-headed hammer with fingers slightly spread."}, {"label": "subtasks", "start_step": 128, "end_step": 194, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand is not visible in the frame throughout the segment, with no observable movement or contact with any objects. | Right hand: grasp: Right hand makes contact with the wooden hammer handle, closes fingers gradually around the handle and adjusts finger positions to establish a grip on the hammer resting on the black textured surface."}, {"label": "subtasks", "start_step": 195, "end_step": 231, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand is not visible in the frame throughout the segment, with no observable movement or contact with any objects. | Right hand: grasp: Right hand closes fingers around the wooden handle of the hammer resting on the black work surface to form a stable grip."}, {"label": "subtasks", "start_step": 232, "end_step": 254, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand is not visible in the frame throughout the segment, with no observable movement or contact with any objects. | Right hand: lift: Right hand lifts the grasped hammer upward until the hammer is fully separated from the black work surface."}, {"label": "subtasks", "start_step": 255, "end_step": 314, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand is not visible in the frame throughout the segment, with no observable movement or contact with any objects. | Right hand: transport: Right hand moves the lifted hammer leftward and upward to position it above the red peg on the wooden peg board."}, {"label": "subtasks", "start_step": 315, "end_step": 389, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand is not 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hand holds the wooden-handled hammer stationary over the pegboard, with the yellow hammer head resting on the pressed peg, no observable movement of the hand or hammer."}, {"label": "subtasks", "start_step": 585, "end_step": 599, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand is not visible in the frame throughout the segment, with no observable movement or contact with any objects. | Right hand: lift: Right hand grips the wooden hammer handle and lifts the hammer slightly upward, raising the yellow hammer head completely off the wooden peg bench surface."}, {"label": "subtasks", "start_step": 600, "end_step": 734, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand is not visible in the frame throughout the segment, with no observable movement or contact with any objects. | Right hand: transport: Right hand carries the lifted hammer, shifting horizontally and making slight rotational adjustments to align the yellow hammer head directly over the 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Right hand: transport: Right hand holds the lifted wooden hammer, moving it horizontally right across the black mat toward the right resting position."}, {"label": "subtasks", "start_step": 908, "end_step": 929, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand is not visible in the frame throughout the segment, with no observable movement or contact with any objects. | Right hand: place_release: Right hand lowers the hammer downward to rest on the right black mat, opening fingers to release grip on the hammer handle as the hammer settles on the surface."}, {"label": "subtasks", "start_step": 930, "end_step": 944, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand is not visible in the frame throughout the segment, with no observable movement or contact with any objects. | Right hand: retreat: Right hand moves empty upward away from the resting hammer, pulling back from the hammer's position on the mat."}, {"label": "subtasks", "start_step": 945, "end_step": 1093, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand is not visible in the frame throughout the segment, with no observable movement or contact with any objects."}], "episode_index": 158} +{"source_uid": "b0b336e5f7cb6e23", "num_frames": 1033, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Hammer_Nails_v2", "tags": {"task_name": "Hammer_Nails_v2", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "B", "SOP": ""}, "segments": [{"label": "goal", "start_step": 0, "end_step": 250, "id": "90207084-a96b-483a-9d2b-cd2cbd7cd82d"}, {"label": "valid", "start_step": 0, "end_step": 884, "id": "vhH-oelUR9aYRxwzUIGOp"}, {"label": "subtasks", "start_step": 15, "end_step": 111, "id": "reasoning-language-00001", "text": "Right hand: reach: Right hand enters from the right side of the frame and moves left toward the yellow hammer with wooden handle on the black mat."}, {"label": "subtasks", "start_step": 112, "end_step": 239, "id": "reasoning-language-00002", "text": "Right hand: grasp: Right hand contacts the wooden handle of the yellow hammer, adjusts fingers to form and stabilize the grasp."}, {"label": "subtasks", "start_step": 240, "end_step": 261, "id": "reasoning-language-00003", "text": "Right hand: grasp: Right hand adjusts its grasp on the yellow hammer on the black mat, with fingers slightly tightening to stabilize the grip."}, {"label": "goal", "start_step": 251, "end_step": 480, "id": "bd71c9ac-70e4-43e8-bd53-260c5367a565"}, {"label": "subtasks", "start_step": 262, "end_step": 277, "id": "reasoning-language-00004", "text": "Right hand: lift: Right hand lifts the yellow hammer upward off the black supporting mat."}, {"label": "subtasks", "start_step": 278, "end_step": 344, "id": "reasoning-language-00005", "text": "Right hand: transport: Right hand transports the yellow hammer leftward and upward to the position above the wooden peg board with green legs."}, {"label": "subtasks", "start_step": 345, "end_step": 517, "id": "reasoning-language-00006", "text": "Right hand: press: Right hand holds the yellow hammer and presses downward to hit the red peg on the wooden toy for the first time."}, {"label": "goal", "start_step": 481, "end_step": 740, "id": "f6c5ba07-4b13-4c50-8e93-26b949c61b7d"}, {"label": "subtasks", "start_step": 518, "end_step": 607, "id": "reasoning-language-00007", "text": "Right hand: transport: Right hand holds the yellow hammer and moves upward away from the red peg on the wooden toy."}, {"label": "subtasks", "start_step": 608, "end_step": 771, "id": "reasoning-language-00008", "text": "Right hand: press: Right hand holds the yellow hammer and presses downward to hit the red peg on the wooden toy for the second time."}, {"label": "goal", "start_step": 741, "end_step": 850, "id": "b8dabbe6-9171-4f67-9bc0-3003076bfdca"}, {"label": "subtasks", "start_step": 772, "end_step": 794, "id": "reasoning-language-00009", "text": "Right hand: 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"reasoning-language-00004", "text": "Right hand: transport: Right hand transports the yellow hammer leftward toward the small wooden table with green legs."}, {"label": "subtasks", "start_step": 375, "end_step": 404, "id": "reasoning-language-00005", "text": "Right hand: grasp: Right hand adjusts fingers to form a stable grip on the wooden handle of the yellow hammer."}, {"label": "subtasks", "start_step": 405, "end_step": 441, "id": "reasoning-language-00006", "text": "Right hand: lift: Right hand lifts the yellow hammer upward away from the wooden peg board."}, {"label": "subtasks", "start_step": 442, "end_step": 479, "id": "reasoning-language-00007", "text": "Right hand: transport: Right hand moves the yellow hammer downward toward the red peg on the wooden peg board."}, {"label": "goal", "start_step": 456, "end_step": 650, "id": "7a196033-3a62-46ae-90b1-f7d93643835b"}, {"label": "subtasks", "start_step": 480, "end_step": 509, "id": "reasoning-language-00008", "text": "Right hand: 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"2945a4fa-e96e-4699-8872-9d174c5c7ce0"}, {"label": "subtasks", "start_step": 660, "end_step": 674, "id": "reasoning-language-00013", "text": "Right hand: transport: Right hand moves the yellow hammer downward toward the red peg for the third strike."}, {"label": "subtasks", "start_step": 675, "end_step": 689, "id": "reasoning-language-00014", "text": "Right hand: press: Right hand strikes the red peg with the yellow hammer a third time to press it further into the board."}, {"label": "subtasks", "start_step": 690, "end_step": 749, "id": "reasoning-language-00015", "text": "Right hand: transport: Right hand transports the yellow hammer with wooden handle rightward above the black working surface."}, {"label": "subtasks", "start_step": 750, "end_step": 764, "id": "reasoning-language-00016", "text": "Right hand: place: Right hand places the yellow hammer onto the right side of the black working surface."}, {"label": "subtasks", "start_step": 765, "end_step": 779, "id": "reasoning-language-00017", "text": "Right hand: release: Right hand releases the yellow hammer, fingers open to separate from the hammer handle."}, {"label": "home", "start_step": 804, "end_step": 951, "id": "dNVa-VqmT-ZN8ITdfYsA0"}], "language_segments": [{"label": "subtasks", "start_step": 60, "end_step": 149, "id": "reasoning-language-00001", "text": "Right hand: reach: Right hand moves leftward and downward toward the yellow hammer on the right side of the wooden toy on the black mat."}, {"label": "subtasks", "start_step": 150, "end_step": 247, "id": "reasoning-language-00002", "text": "Right hand: grasp: Right hand contacts the hammer and adjusts fingers to grip the wooden handle of the hammer to form a stable grasp."}, {"label": "subtasks", "start_step": 248, "end_step": 299, "id": "reasoning-language-00003", "text": "Right hand: lift: Right hand lifts the hammer upward away from the black mat."}, {"label": "subtasks", "start_step": 300, "end_step": 374, "id": "reasoning-language-00004", "text": "Right hand: transport: Right hand transports the yellow hammer leftward toward the small wooden table with green legs."}, {"label": "subtasks", "start_step": 375, "end_step": 404, "id": "reasoning-language-00005", "text": "Right hand: grasp: Right hand adjusts fingers to form a stable grip on the wooden handle of the yellow hammer."}, {"label": "subtasks", "start_step": 405, "end_step": 441, "id": "reasoning-language-00006", "text": "Right hand: lift: Right hand lifts the yellow hammer upward away from the wooden peg board."}, {"label": "subtasks", "start_step": 442, "end_step": 479, "id": "reasoning-language-00007", "text": "Right hand: transport: Right hand moves the yellow hammer downward toward the red peg on the wooden peg board."}, {"label": "subtasks", "start_step": 480, "end_step": 509, "id": "reasoning-language-00008", "text": "Right hand: press: Right hand strikes the red peg with the yellow hammer to press it into the wooden board."}, 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grip on the light wooden handle of the yellow mallet, repositioning its thumb and fingers along the handle to secure a stable hold."}, {"label": "subtasks", "start_step": 600, "end_step": 621, "id": "reasoning-language-00009", "text": "Right hand: transport: Right hand carries the firmly gripped yellow mallet upward to position the mallet head directly above the red peg on the wooden peg board."}, {"label": "subtasks", "start_step": 622, "end_step": 689, "id": "reasoning-language-00010", "text": "Right hand: press: Right hand applies downward vertical pressure on the yellow mallet to tap the red peg set in the wooden peg board."}, {"label": "subtasks", "start_step": 690, "end_step": 711, "id": "reasoning-language-00011", "text": "Right hand: grasp: Right hand adjusts its fingers around the wooden handle of the yellow mallet to form a stable grip."}, {"label": "subtasks", "start_step": 712, "end_step": 727, "id": "reasoning-language-00012", "text": "Right hand: lift: Right hand lifts the yellow mallet upward off the wooden toy base while maintaining grip on its wooden handle."}, {"label": "subtasks", "start_step": 728, "end_step": 764, "id": "reasoning-language-00013", "text": "Right hand: transport: Right hand carries the yellow mallet rightward and downward through the air toward the black work surface."}, {"label": "subtasks", "start_step": 765, "end_step": 787, "id": "reasoning-language-00014", "text": "Right hand: place_release: Right hand lowers the yellow mallet onto the black work surface until it rests stably, opening fingers to release grip on the wooden handle."}, {"label": "subtasks", "start_step": 788, "end_step": 824, "id": "reasoning-language-00015", "text": "Right hand: retreat: Right hand moves empty upward and rightward away from the resting yellow mallet."}], "episode_index": 174} +{"source_uid": "fe6aab30ff89c57a", "num_frames": 924, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Hammer_Nails_v2", "tags": {"task_name": "Hammer_Nails_v2", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "B", "SOP": ""}, "segments": [{"label": "valid", "start_step": 0, "end_step": 776, "id": "Fv-eTNxHj-qafZZckWSgm"}, {"label": "subtasks", "start_step": 75, "end_step": 149, "id": "reasoning-language-00001", "text": "Right hand: reach: Right hand enters from the top right of the frame, moves down and left with an empty hand toward the wooden handle of the yellow mallet, without touching the mallet."}, {"label": "subtasks", "start_step": 150, "end_step": 209, "id": "reasoning-language-00002", "text": "Right hand: grasp: Right hand makes contact with the wooden handle of the yellow mallet, fingers close around the handle and make small adjustments to form a stable grip, while the mallet remains stationary on the black work surface."}, {"label": "subtasks", "start_step": 210, "end_step": 254, "id": "reasoning-language-00003", "text": "Right hand: lift: Right hand grips the wooden handle of the yellow mallet and lifts the mallet upward until the entire mallet is fully raised off the black work surface."}, {"label": "subtasks", "start_step": 255, "end_step": 321, "id": "reasoning-language-00004", "text": "Right hand: transport: Right hand holds the yellow mallet and moves it leftward and downward from the right side of the frame to the position above the red peg on the wooden peg toy, making slight grip adjustments on the wooden handle during movement."}, {"label": "subtasks", "start_step": 322, "end_step": 374, "id": "reasoning-language-00005", "text": "Right hand: place: Right hand lowers the grasped yellow mallet vertically to place its yellow head onto the surface of the wooden peg toy directly over the red peg."}, {"label": "subtasks", "start_step": 375, "end_step": 471, "id": "reasoning-language-00006", "text": "Right hand: press: Right hand grips the handle of the wooden mallet and presses downward to drive the mallet head against the peg on the wooden peg toy."}, {"label": "subtasks", "start_step": 472, "end_step": 494, "id": "reasoning-language-00007", "text": "Right hand: transport: Right hand holds the mallet handle and moves upward, carrying the mallet back toward its initial position."}, {"label": "subtasks", "start_step": 495, "end_step": 569, "id": "reasoning-language-00008", "text": "Right hand: grasp: Right hand adjusts its finger positions slightly on the wooden mallet handle to form a stable grip, with no observable movement of the mallet itself."}, {"label": "subtasks", "start_step": 570, "end_step": 659, "id": "reasoning-language-00009", "text": "Right hand: mate: Right hand shifts the grasped wooden mallet by small increments to align the yellow mallet head directly over the red peg on the wooden base."}, {"label": "subtasks", "start_step": 660, "end_step": 734, "id": "reasoning-language-00010", "text": "Right hand: transport: Right hand maintains a firm grip on the wooden mallet, moving it rightward and slightly downward through the air above the black textured mat, away from the wooden peg toy."}, {"label": "subtasks", "start_step": 735, "end_step": 749, "id": "reasoning-language-00011", "text": "Right hand: place_release: Right hand lowers the mallet toward the black mat surface, opens fingers to release grip, allowing the mallet to fall and rest stationary on the mat."}, {"label": "home", "start_step": 777, "end_step": 923, "id": "frC1ffMBonEBfJC2gJh4P"}], "language_segments": [{"label": "subtasks", "start_step": 75, "end_step": 149, "id": "reasoning-language-00001", "text": "Right hand: reach: Right hand enters from the top right of the frame, moves down and left with an empty hand toward the wooden handle of the yellow mallet, without touching the mallet."}, {"label": "subtasks", "start_step": 150, "end_step": 209, "id": "reasoning-language-00002", "text": "Right hand: grasp: Right hand makes contact with the wooden handle of the yellow mallet, fingers close around the handle and make small adjustments to form a stable grip, while the mallet remains stationary on the black work surface."}, {"label": "subtasks", "start_step": 210, "end_step": 254, "id": "reasoning-language-00003", "text": "Right hand: lift: Right hand grips the wooden handle of the yellow mallet and lifts the mallet upward until the entire mallet is fully raised off the black work surface."}, {"label": "subtasks", "start_step": 255, "end_step": 321, "id": "reasoning-language-00004", "text": "Right hand: transport: Right hand holds the yellow mallet and moves it leftward and downward from the right side of the frame to the position above the red peg on the wooden peg toy, making slight grip adjustments on the wooden handle during movement."}, {"label": "subtasks", "start_step": 322, "end_step": 374, "id": "reasoning-language-00005", "text": "Right hand: place: Right hand lowers the grasped yellow mallet vertically to place its yellow head onto the surface of the wooden peg toy directly over the red peg."}, {"label": "subtasks", "start_step": 375, "end_step": 471, "id": "reasoning-language-00006", "text": "Right hand: press: Right hand grips the handle of the wooden mallet and presses downward to drive the mallet head against the peg on the wooden peg toy."}, {"label": "subtasks", "start_step": 472, "end_step": 494, "id": "reasoning-language-00007", "text": "Right hand: transport: Right hand holds the mallet handle and moves upward, carrying the mallet back toward its initial position."}, {"label": "subtasks", "start_step": 495, "end_step": 569, "id": "reasoning-language-00008", "text": "Right hand: grasp: Right hand adjusts its finger positions slightly on the wooden mallet handle to form a stable grip, with no observable movement of the mallet itself."}, {"label": "subtasks", "start_step": 570, "end_step": 659, "id": "reasoning-language-00009", "text": "Right hand: mate: Right hand shifts the grasped wooden mallet by small increments to align the yellow mallet head directly over the red peg on the wooden base."}, {"label": "subtasks", "start_step": 660, "end_step": 734, "id": "reasoning-language-00010", "text": "Right hand: transport: Right hand maintains a firm grip on the wooden mallet, moving it rightward and slightly downward through the air above the black textured mat, away from the wooden peg toy."}, {"label": "subtasks", "start_step": 735, "end_step": 749, "id": "reasoning-language-00011", "text": "Right hand: place_release: Right hand lowers the mallet toward the black mat surface, opens fingers to release grip, allowing the mallet to fall and rest stationary on the mat."}], "episode_index": 175} +{"source_uid": "6adee979a10b5865", "num_frames": 790, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table.", "tags": {"task_name": "Hammer Nails", "task_instruction": "Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table.", "scene_description": "A hammer and two nails are placed on the table. 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"/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData/Hammer_Nails_v2/season_POC22048_2026_05_22_10_21_37_train/POC22048_2026_05_22_15_08_30_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/hammer_nails/season_POC22048_2026_05_22_10_21_37_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 122, "v40_language_source": "previous_published_lerobot", "episode_index": 176} +{"source_uid": "58e37f900e8e8971", "num_frames": 904, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Hammer_Nails_v2", "tags": {"task_name": "Hammer_Nails_v2", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "B", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 134, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty and stationary at the far left edge of the frame without observable movement. | Right hand: reach: Right hand starts empty at the top-right edge of the frame and moves downward toward the wooden mallet with an open hand."}, {"label": "valid", "start_step": 0, "end_step": 754, "id": "Zzne0NJ6otDJ04ghKcJJI"}, {"label": "subtasks", "start_step": 135, "end_step": 239, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and stationary at the far left edge of the frame without observable movement. | Right hand: grasp: Right hand positions fingers around the wooden handle of the mallet, closing and adjusting finger positions to form a stable grip while the mallet rests on the black supporting surface."}, {"label": "subtasks", "start_step": 240, "end_step": 254, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary at the far left edge of the frame without observable movement. | Right hand: lift: Right hand lifts the wooden mallet slightly upward from the supporting surface while maintaining a stable grip on the wooden handle."}, {"label": "subtasks", "start_step": 255, "end_step": 269, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stationary at the far left edge of the frame without observable movement. | Right hand: hold: Right hand holds the wooden mallet handle on the black work surface without observable movement."}, {"label": "subtasks", "start_step": 270, "end_step": 367, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and stationary at the far left edge of the frame without observable movement. | Right hand: reorient: Right hand holds the wooden mallet handle, rotates the mallet about a quarter turn along an arcing path to position the yellow mallet head above the green peg on the wooden peg toy."}, {"label": "subtasks", "start_step": 368, "end_step": 427, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary at the far left edge of the frame without observable movement. | Right hand: hold: Right hand holds the wooden mallet steady with the yellow head positioned above the green peg, without observable movement."}, {"label": "subtasks", "start_step": 428, "end_step": 517, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary at the far left edge of the frame without observable movement. | Right hand: press: Right hand holds the wooden mallet handle and rotates the mallet slightly counter-clockwise to move its yellow head downward, applying vertical pressure on the red wooden peg in the wooden base."}, {"label": "subtasks", "start_step": 518, "end_step": 539, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary at the far left edge of the frame without observable movement. | Right hand: reorient: Right hand holds the wooden mallet handle and rotates the mallet slightly clockwise to return it to the vertical upright position, with the mallet head staying in the wooden base hole."}, {"label": "subtasks", "start_step": 540, "end_step": 591, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stationary at the far left edge of the frame without observable movement. | Right hand: hold: Right hand maintains a stable grip on the vertical wooden mallet handle, with no observable movement of the hand, fingers or the mallet."}, {"label": "subtasks", "start_step": 592, "end_step": 674, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stationary at the far left edge of the frame without observable movement. | Right hand: press: Right hand holds the wooden mallet handle and rotates the mallet slightly counter-clockwise to move its yellow head downward, applying vertical pressure on the red wooden peg until the peg protrudes from the base surface."}, {"label": "subtasks", "start_step": 675, "end_step": 734, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stationary at the far left edge of the frame without observable movement. | Right hand: reorient: Right hand holds the wooden mallet, rotates it about a quarter turn to face the yellow mallet head leftward, moves it to the right side of the wooden peg toy, and lowers it onto the black supporting surface."}, {"label": "subtasks", "start_step": 735, "end_step": 809, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and stationary at the far left edge of the frame without observable movement. | Right hand: retreat: Right hand moves empty in the upward-right direction, retreating away from the wooden mallet placed on the supporting surface."}, {"label": "home", "start_step": 755, "end_step": 903, "id": "FSZstQqnkUbLsce0jWrzy"}, {"label": "subtasks", "start_step": 810, "end_step": 903, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and stationary at the far left edge of the frame without observable movement."}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 134, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty and stationary at the far left edge of the frame without observable movement. | Right hand: reach: Right hand starts empty at the top-right edge of the frame and moves downward toward the wooden mallet with an open hand."}, {"label": "subtasks", "start_step": 135, "end_step": 239, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and stationary at the far left edge of the frame without observable movement. | Right hand: grasp: Right hand positions fingers around the wooden handle of the mallet, closing and adjusting finger positions to form a stable grip while the mallet rests on the black supporting surface."}, {"label": "subtasks", "start_step": 240, "end_step": 254, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary at the far left edge of the frame without observable movement. | Right hand: lift: Right hand lifts the wooden mallet slightly upward from the supporting surface while maintaining a stable grip on the wooden handle."}, {"label": "subtasks", "start_step": 255, "end_step": 269, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stationary at the far left edge of the frame without observable movement. | Right hand: hold: Right hand holds the wooden mallet handle on the black work surface without observable movement."}, {"label": "subtasks", "start_step": 270, "end_step": 367, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and stationary at the far left edge of the frame without observable movement. | Right hand: reorient: Right hand holds the wooden mallet handle, rotates the mallet about a quarter turn along an arcing path to position the yellow mallet head above the green peg on the wooden peg toy."}, {"label": "subtasks", "start_step": 368, "end_step": 427, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary at the far left edge of the frame without observable movement. | Right hand: hold: Right hand holds the wooden mallet steady with the yellow head positioned above the green peg, without observable movement."}, {"label": "subtasks", "start_step": 428, "end_step": 517, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary at the far left edge of the frame without observable movement. | Right hand: press: Right hand holds the wooden mallet handle and rotates the mallet slightly counter-clockwise to move its yellow head downward, applying vertical pressure on the red wooden peg in the wooden base."}, {"label": "subtasks", "start_step": 518, "end_step": 539, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary at the far left edge of the frame without observable movement. | Right hand: reorient: Right hand holds the wooden mallet handle and rotates the mallet slightly clockwise to return it to the vertical upright position, with the mallet head staying in the wooden base hole."}, {"label": "subtasks", "start_step": 540, "end_step": 591, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stationary at the far left edge of the frame without observable movement. | Right hand: hold: Right hand maintains a stable grip on the vertical wooden mallet handle, with no observable movement of the hand, fingers or the mallet."}, {"label": "subtasks", "start_step": 592, "end_step": 674, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stationary at the far left edge of the frame without observable movement. | Right hand: press: Right hand holds the wooden mallet handle and rotates the mallet slightly counter-clockwise to move its yellow head downward, applying vertical pressure on the red wooden peg until the peg protrudes from the base surface."}, {"label": "subtasks", "start_step": 675, "end_step": 734, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stationary at the far left edge of the frame without observable movement. | Right hand: reorient: Right hand holds the wooden mallet, rotates it about a quarter turn to face the yellow mallet head leftward, moves it to the right side of the wooden peg toy, and lowers it onto the black supporting surface."}, {"label": "subtasks", "start_step": 735, "end_step": 809, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and stationary at the far left edge of the frame without observable movement. | Right hand: retreat: Right hand moves empty in the upward-right direction, retreating away from the wooden mallet placed on the supporting surface."}, {"label": "subtasks", "start_step": 810, "end_step": 903, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and stationary at the far left edge of the frame without observable movement."}], "episode_index": 177} +{"source_uid": "105775a134f3b4fc", "num_frames": 831, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Hammer_Nails_v2", "tags": {"task_name": "Hammer_Nails_v2", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "B", "SOP": ""}, "segments": [{"label": "valid", "start_step": 0, "end_step": 681, "id": "qx2Zkungcy4bgGhEsXow8"}, {"label": "subtasks", "start_step": 60, "end_step": 104, "id": "reasoning-language-00001", "text": "Right hand: reach: Right hand moves downward from the top right of the frame towards the yellow hammer with wooden handle on the black mat."}, {"label": "subtasks", "start_step": 105, "end_step": 179, "id": "reasoning-language-00002", "text": "Right hand: grasp: Right hand adjusts its fingers to grasp the wooden handle of the yellow hammer."}, {"label": "subtasks", "start_step": 180, "end_step": 201, "id": "reasoning-language-00003", "text": "Right hand: grasp: Right hand adjusts its fingers to form a stable grasp on the wooden handle of the yellow hammer."}, {"label": "subtasks", "start_step": 202, "end_step": 307, "id": "reasoning-language-00004", "text": "Right hand: transport: Right hand holds the yellow hammer and moves it leftward towards the wooden toy rack."}, {"label": "subtasks", "start_step": 308, "end_step": 359, "id": "reasoning-language-00005", "text": "Right hand: mate: Right hand adjusts the position of the yellow hammer to align the hammer head with the pegs on the wooden toy rack."}, {"label": "subtasks", "start_step": 360, "end_step": 381, "id": "reasoning-language-00006", "text": "Right hand: hold: Right hand holds the wooden handle of the yellow hammer without moving."}, {"label": "subtasks", "start_step": 382, "end_step": 441, "id": "reasoning-language-00007", "text": "Right hand: 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Right hand: lift: Right hand holds the wooden mallet handle and lifts the mallet upward, raising the yellow mallet head off the work surface while the lower end of the wooden handle stays in contact with the surface."}, {"label": "subtasks", "start_step": 240, "end_step": 269, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains partially visible at the left edge of the frame, empty and stationary with no observable movement throughout the segment. | Right hand: lift: Right hand holds the wooden mallet handle and lifts the mallet upward, raising the mallet fully off the black textured work mat."}, {"label": "subtasks", "start_step": 270, "end_step": 329, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains partially visible at the left edge of the frame, empty and stationary with no observable movement throughout the segment. | Right hand: transport: Right hand carries the lifted wooden mallet leftward and slightly downward, rotating 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464, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains partially visible at the left edge of the frame, empty and stationary with no observable movement throughout the segment. | Right hand: grasp: Right hand adjusts the positions of its curled fingers along the wooden mallet handle, tightening contact to form a stable grip on the mallet, with negligible movement of the mallet itself."}, {"label": "subtasks", "start_step": 465, "end_step": 689, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains partially visible at the left edge of the frame, empty and stationary with no observable movement throughout the segment. | Right hand: other:repeated_small_striking: Right hand holds the wooden mallet with a stable grip, performing repeated small vertical downward striking motions against the peg on the perforated wooden board to apply downward pressure."}, {"label": "subtasks", "start_step": 690, "end_step": 734, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains partially visible at the left edge of the frame, empty and stationary with no observable movement throughout the segment. | Right hand: transport_release: Right hand holds the wooden mallet, moves it horizontally rightward to the area above the right side of the black platform, opens its fingers to release the mallet to fall toward the platform surface."}, {"label": "subtasks", "start_step": 735, "end_step": 771, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains partially visible at the left edge of the frame, empty and stationary with no observable movement throughout the segment. | Right hand: retreat: Right hand remains empty and moves upward and rightward away from the resting position of the wooden mallet."}, {"label": "subtasks", "start_step": 772, "end_step": 914, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains partially visible at the left edge of the frame, empty and stationary with no observable movement throughout the segment. | Right hand: idle: Right hand stays empty at the top-right corner of the visible frame without observable movement."}, {"label": "home", "start_step": 776, "end_step": 922, "id": "6LgDjfHnenG6jlxPi4Q4Y"}, {"label": "subtasks", "start_step": 915, "end_step": 921, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains partially visible at the left edge of the frame, empty and stationary with no observable movement throughout the segment. | Right hand: reach: Right hand enters the frame from the top-right edge, moving toward the central work area as an empty open hand without contacting any objects."}, {"label": "subtasks", "start_step": 922, "end_step": 922, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains partially visible at the left edge of the frame, empty and stationary with no observable movement throughout the segment."}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 67, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains partially visible at the left edge of the frame, empty and stationary with no observable movement throughout the segment. | Right hand: idle: Right hand stays empty at the top-right edge of the frame without any visible movement."}, {"label": "subtasks", "start_step": 68, "end_step": 127, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains partially visible at the left edge of the frame, empty and stationary with no observable movement throughout the segment. | Right hand: reach: Right hand moves downward from the top-right edge toward the wooden mallet on the black work surface, with fingers slightly open, not yet contacting the mallet handle."}, {"label": "subtasks", "start_step": 128, "end_step": 201, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains partially visible at the left edge of the frame, empty and stationary with no observable movement throughout the segment. | Right hand: grasp: Right hand makes contact with the wooden mallet handle, fingers close gradually and adjust position to form a stable grip on the handle, with the mallet remaining fully supported on the work surface."}, {"label": "subtasks", "start_step": 202, "end_step": 239, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains partially visible at the left edge of the frame, empty and stationary with no observable movement throughout the segment. | Right hand: lift: Right hand holds the wooden mallet handle and lifts the mallet upward, raising the yellow mallet head off the work surface while the lower end of the wooden handle stays in contact with the surface."}, {"label": "subtasks", "start_step": 240, "end_step": 269, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains partially visible at the left edge of the frame, empty and stationary with no observable movement throughout the segment. | Right hand: lift: Right hand holds the wooden mallet handle and lifts the mallet upward, raising the mallet fully off the black textured work mat."}, {"label": "subtasks", "start_step": 270, "end_step": 329, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains partially visible at the left edge of the frame, empty and stationary with no observable movement throughout the segment. | Right hand: transport: Right hand carries the lifted wooden mallet leftward and slightly downward, rotating the mallet about a quarter turn to orient the yellow hammerhead vertically downward toward the central peg board."}, {"label": "subtasks", "start_step": 330, "end_step": 359, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains partially visible at the left edge of the frame, empty and stationary with no observable movement throughout the segment. | Right hand: place: Right hand moves the wooden mallet further downward to set the yellow hammerhead onto the red peg on the wooden peg board."}, {"label": "subtasks", "start_step": 360, "end_step": 419, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains partially visible at the left edge of the frame, empty and stationary with no observable movement throughout the segment. | Right hand: hold: Right hand holds the wooden mallet steady with the yellow hammerhead resting on the red peg, without visible movement of the hand or mallet."}, {"label": "subtasks", "start_step": 420, "end_step": 464, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains partially visible at the left edge of the frame, empty and stationary with no observable movement throughout the segment. | Right hand: grasp: Right hand adjusts the positions of its curled fingers along the wooden mallet handle, tightening contact to form a stable grip on the mallet, with negligible movement of the mallet itself."}, {"label": "subtasks", "start_step": 465, "end_step": 689, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains partially visible at the left edge of the frame, empty and stationary with no observable movement throughout the segment. | Right hand: other:repeated_small_striking: Right hand holds the wooden mallet with a stable grip, performing repeated small vertical downward striking motions against the peg on the perforated wooden board to apply downward pressure."}, {"label": "subtasks", "start_step": 690, "end_step": 734, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains partially visible at the left edge of the frame, empty and stationary with no observable movement throughout the segment. | Right hand: transport_release: Right hand holds the wooden mallet, moves it horizontally rightward to the area above the right side of the black platform, opens its fingers to release the mallet to fall toward the platform surface."}, {"label": "subtasks", "start_step": 735, "end_step": 771, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains partially visible at the left edge of the frame, empty and stationary with no observable movement throughout the segment. | Right hand: retreat: Right hand remains empty and moves upward and rightward away from the resting position of the wooden mallet."}, {"label": "subtasks", "start_step": 772, "end_step": 914, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains partially visible at the left edge of the frame, empty and stationary with no observable movement throughout the segment. | Right hand: idle: Right hand stays empty at the top-right corner of the visible frame without observable movement."}, {"label": "subtasks", "start_step": 915, "end_step": 921, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains partially visible at the left edge of the frame, empty and stationary with no observable movement throughout the segment. | Right hand: reach: Right hand enters the frame from the top-right edge, moving toward the central work area as an empty open hand without contacting any objects."}, {"label": "subtasks", "start_step": 922, "end_step": 922, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains partially visible at the left edge of the frame, empty and stationary with no observable movement throughout the segment."}], "episode_index": 182} +{"source_uid": "afd91869175eebe8", "num_frames": 818, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table.", "tags": {"task_name": "Hammer Nails", "task_instruction": "Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table.", "scene_description": "A hammer and two nails are placed on the table. 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"/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData/Hammer_Nails_v2/season_POC22048_2026_05_22_10_21_37_train/POC22048_2026_05_22_15_13_39_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/hammer_nails/season_POC22048_2026_05_22_10_21_37_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 124, "v40_language_source": "previous_published_lerobot", "episode_index": 183} +{"source_uid": "6f3d789c79915a59", "num_frames": 685, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Hammer_Nails_v2", "tags": {"task_name": "Hammer_Nails_v2", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "B", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 67, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left periphery of the visible workspace without any observable movement. | Right hand: idle: Right hand remains empty, staying stationary at the top-right periphery of the visible workspace without moving."}, {"label": "valid", "start_step": 0, "end_step": 684, "id": "osi9oORRXCx1bPwEZlenB"}, {"label": "subtasks", "start_step": 68, "end_step": 134, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left periphery of the visible workspace without any observable movement. | Right hand: reach: Right hand moves downward from the top-right periphery toward the wooden handle of the yellow mallet on the right side of the workspace, with fingers slightly open as it approaches the target."}, {"label": "subtasks", "start_step": 135, "end_step": 209, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left periphery of the visible workspace without any observable movement. | Right hand: grasp: Right hand closes its fingers around the wooden mallet handle and makes fine adjustments to its grip on the handle resting on the black textured work surface."}, {"label": "subtasks", "start_step": 210, "end_step": 224, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left periphery of the visible workspace without any observable movement. | Right hand: grasp: Right hand adjusts and tightens its fingers around the wooden handle of the yellow mallet resting on the black mat to establish a stable grip."}, {"label": "subtasks", "start_step": 225, "end_step": 254, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left periphery of the visible workspace without any observable movement. | Right hand: lift: Right hand lifts the gripped yellow mallet upward from the black mat until the mallet is completely raised off the supporting surface."}, {"label": "subtasks", "start_step": 255, "end_step": 307, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left periphery of the visible workspace without any observable movement. | Right hand: transport: Right hand carries the suspended yellow mallet leftward through the air toward the central wooden peg board."}, {"label": "subtasks", "start_step": 308, "end_step": 329, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left periphery of the visible workspace without any observable movement. | Right hand: place: Right hand lowers the yellow mallet downward until the mallet head rests on the red peg atop the wooden peg board."}, {"label": "subtasks", "start_step": 330, "end_step": 359, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left periphery of the visible workspace without any observable movement."}, {"label": "subtasks", "start_step": 360, "end_step": 397, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left periphery of the visible workspace without any observable movement. | Right hand: grasp: Right hand adjusts finger positions around the wooden handle of the yellow mallet to form a stable grip."}, {"label": "subtasks", "start_step": 398, "end_step": 441, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left periphery of the visible workspace without any observable movement. | Right hand: press: Right hand moves the yellow mallet downward to apply downward force on the green peg, pressing it into the wooden pegboard."}, {"label": "subtasks", "start_step": 442, "end_step": 471, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left periphery of the visible workspace without any observable movement. | Right hand: transport: Right hand moves the yellow mallet upward to a resting position on top of the green peg while maintaining grip on the wooden handle."}, {"label": "subtasks", "start_step": 472, "end_step": 644, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left periphery of the visible workspace without any observable movement. | Right hand: hold: Right hand holds the yellow mallet stationary against the top of the green peg on the wooden pegboard with no observed movement."}, {"label": "subtasks", "start_step": 645, "end_step": 667, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left periphery of the visible workspace without any observable movement. | Right hand: lift: Right hand holds the yellow-headed wooden mallet and lifts it upward to fully separate the mallet from the wooden toy structure with green pegs."}, {"label": "subtasks", "start_step": 668, "end_step": 684, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left periphery of the visible workspace without any observable movement. | Right hand: transport: Right hand carries the fully separated yellow-headed wooden mallet and moves it upward and rightward away from the wooden toy structure."}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 67, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left periphery of the visible workspace without any observable movement. | Right hand: idle: Right hand remains empty, staying stationary at the top-right periphery of the visible workspace without moving."}, {"label": "subtasks", "start_step": 68, "end_step": 134, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left periphery of the visible workspace without any observable movement. | Right hand: reach: Right hand moves downward from the top-right periphery toward the wooden handle of the yellow mallet on the right side of the workspace, with fingers slightly open as it approaches the target."}, {"label": "subtasks", "start_step": 135, "end_step": 209, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left periphery of the visible workspace without any observable movement. | Right hand: grasp: Right hand closes its fingers around the wooden mallet handle and makes fine adjustments to its grip on the handle resting on the black textured work surface."}, {"label": "subtasks", "start_step": 210, "end_step": 224, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left periphery of the visible workspace without any observable movement. | Right hand: grasp: Right hand adjusts and tightens its fingers around the wooden handle of the yellow mallet resting on the black mat to establish a stable grip."}, {"label": "subtasks", "start_step": 225, "end_step": 254, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left periphery of the visible workspace without any observable movement. | Right hand: lift: Right hand lifts the gripped yellow mallet upward from the black mat until the mallet is completely raised off the supporting surface."}, {"label": "subtasks", "start_step": 255, "end_step": 307, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left periphery of the visible workspace without any observable movement. | Right hand: transport: Right hand carries the suspended yellow mallet leftward through the air toward the central wooden peg board."}, {"label": "subtasks", "start_step": 308, "end_step": 329, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left periphery of the visible workspace without any observable movement. | Right hand: place: Right hand lowers the yellow mallet downward until the mallet head rests on the red peg atop the wooden peg board."}, {"label": "subtasks", "start_step": 330, "end_step": 359, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left periphery of the visible workspace without any observable movement."}, {"label": "subtasks", "start_step": 360, "end_step": 397, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left periphery of the visible workspace without any observable movement. | Right hand: grasp: Right hand adjusts finger positions around the wooden handle of the yellow mallet to form a stable grip."}, {"label": "subtasks", "start_step": 398, "end_step": 441, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left periphery of the visible workspace without any observable movement. | Right hand: press: Right hand moves the yellow mallet downward to apply downward force on the green peg, pressing it into the wooden pegboard."}, {"label": "subtasks", "start_step": 442, "end_step": 471, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left periphery of the visible workspace without any observable movement. | Right hand: transport: Right hand moves the yellow mallet upward to a resting position on top of the green peg while maintaining grip on the wooden handle."}, {"label": "subtasks", "start_step": 472, "end_step": 644, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left periphery of the visible workspace without any observable movement. | Right hand: hold: Right hand holds the yellow mallet stationary against the top of the green peg on the wooden pegboard with no observed movement."}, {"label": "subtasks", "start_step": 645, "end_step": 667, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left periphery of the visible workspace without any observable movement. | Right hand: lift: Right hand holds the yellow-headed wooden mallet and lifts it upward to fully separate the mallet from the wooden toy structure with green pegs."}, {"label": "subtasks", "start_step": 668, "end_step": 684, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left periphery of the visible workspace without any observable movement. | Right hand: transport: Right hand carries the fully separated yellow-headed wooden mallet and moves it upward and rightward away from the wooden toy structure."}], "episode_index": 184} +{"source_uid": "264c44d88113814f", "num_frames": 978, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Hammer_Nails_v2", "tags": {"task_name": "Hammer_Nails_v2", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "B", "SOP": ""}, "segments": [{"label": "valid", "start_step": 0, "end_step": 828, "id": "eNZaatUsbQ4RPZCUGujQ1"}, {"label": "subtasks", "start_step": 60, "end_step": 104, "id": "reasoning-language-00001", "text": "Right hand: reach: Right hand moves downward from the top right of the frame toward the yellow-headed wooden hammer on the black textured mat, with fingers open and no contact with the hammer."}, {"label": "subtasks", "start_step": 105, "end_step": 194, "id": "reasoning-language-00002", "text": "Right hand: grasp: Right hand contacts the wooden handle of the yellow-headed hammer, closing fingers and adjusting grip position along the handle to form a stable grasp."}, {"label": "subtasks", "start_step": 195, "end_step": 224, "id": "reasoning-language-00003", "text": "Right hand: hold: Right hand holds the wooden handle of the yellow-headed hammer on the black textured mat without any observable movement of the hand or the hammer."}, {"label": "subtasks", "start_step": 225, "end_step": 239, "id": "reasoning-language-00004", "text": "Right hand: lift: Right hand lifts the yellow-headed wooden hammer upward, raising the hammer head off the black textured mat."}, {"label": "subtasks", "start_step": 240, "end_step": 261, "id": "reasoning-language-00005", "text": "Right hand: lift: Right hand lifts the yellow hammer upward from the black textured table surface."}, {"label": "subtasks", "start_step": 262, "end_step": 359, "id": "reasoning-language-00006", "text": "Right hand: transport: Right hand transports the yellow hammer leftward and upward while slightly rotating it, moving it to the position above the green peg on the wooden pegboard toy."}, {"label": "subtasks", "start_step": 360, "end_step": 404, "id": "reasoning-language-00007", "text": "Right hand: transport_press: Right hand transports the yellow hammer downward and presses its yellow head against the wooden board."}, {"label": "subtasks", "start_step": 405, "end_step": 427, "id": "reasoning-language-00008", "text": "Right hand: lift_transport: Right hand lifts the yellow hammer from the wooden board and transports it upward."}, {"label": "subtasks", "start_step": 428, "end_step": 449, "id": "reasoning-language-00009", "text": "Right hand: transport_press: Right hand transports the yellow hammer downward and presses its yellow head against the wooden board."}, {"label": "subtasks", "start_step": 450, "end_step": 471, "id": "reasoning-language-00010", "text": "Right hand: lift_transport: Right hand lifts the yellow hammer from the wooden board and transports it upward."}, {"label": "subtasks", "start_step": 472, "end_step": 501, "id": "reasoning-language-00011", "text": "Right hand: transport_press: Right hand transports the yellow hammer downward and presses its yellow head against the wooden board."}, {"label": "subtasks", "start_step": 502, "end_step": 524, "id": "reasoning-language-00012", "text": "Right hand: lift_transport: Right hand lifts the yellow hammer from the wooden board and transports it upward."}, {"label": "subtasks", "start_step": 525, "end_step": 554, "id": "reasoning-language-00013", "text": "Right hand: transport_press: Right hand transports the yellow hammer downward and presses its yellow head against the wooden board."}, {"label": "subtasks", "start_step": 555, "end_step": 577, "id": "reasoning-language-00014", "text": "Right hand: lift_transport: Right hand lifts the yellow hammer from the wooden board and transports it upward."}, {"label": "subtasks", "start_step": 578, "end_step": 599, "id": "reasoning-language-00015", "text": "Right hand: transport_press: Right hand transports the yellow hammer downward and presses its yellow head against the wooden board."}, {"label": "subtasks", "start_step": 600, "end_step": 621, "id": "reasoning-language-00016", "text": "Right hand: lift_transport: Right hand lifts the yellow hammer from the wooden board and transports it upward."}, {"label": "subtasks", "start_step": 622, "end_step": 651, "id": "reasoning-language-00017", "text": "Right hand: transport_press: Right hand transports the yellow hammer downward and presses its yellow head against the wooden board."}, {"label": "subtasks", "start_step": 652, "end_step": 674, "id": "reasoning-language-00018", "text": "Right hand: lift_transport: Right hand lifts the yellow hammer from the wooden board and transports it upward."}, {"label": "subtasks", "start_step": 675, "end_step": 704, "id": "reasoning-language-00019", "text": "Right hand: transport_press: Right hand transports the yellow hammer downward and presses its yellow head against the wooden board."}, {"label": "subtasks", "start_step": 705, "end_step": 727, "id": "reasoning-language-00020", "text": "Right hand: lift_transport: Right hand lifts the yellow hammer from the wooden board and transports it upward."}, {"label": "subtasks", "start_step": 728, "end_step": 734, "id": "reasoning-language-00021", "text": "Right hand: transport: Right hand transports the yellow hammer downward."}, {"label": "subtasks", "start_step": 735, "end_step": 779, "id": "reasoning-language-00022", "text": "Right hand: lift_transport: Right hand lifts the yellow hammer with a wooden handle away from the peg toy and transports it rightward in the air above the black textured surface."}, {"label": "subtasks", "start_step": 780, "end_step": 794, "id": "reasoning-language-00023", "text": "Right hand: place_release: Right hand places the yellow hammer onto the black textured surface and releases its grip on the wooden handle."}, {"label": "subtasks", "start_step": 795, "end_step": 809, "id": "reasoning-language-00024", "text": "Right hand: retreat: Right hand retreats rightward and upward away from the yellow hammer."}, {"label": "home", "start_step": 829, "end_step": 977, "id": "nxysfVVMzTIaTzKoO0mIM"}, {"label": "subtasks", "start_step": 960, "end_step": 977, "id": "reasoning-language-00025", "text": "Right hand: grasp_lift: Right hand grasps the yellow head of the wooden hammer and lifts the hammer head slightly upward, with the distal end of the handle still in contact with the black textured mat."}], "language_segments": [{"label": "subtasks", "start_step": 60, "end_step": 104, "id": "reasoning-language-00001", "text": "Right hand: reach: Right hand moves downward from the top right of the frame toward the yellow-headed wooden hammer on the black textured mat, with fingers open and no contact with the hammer."}, {"label": "subtasks", "start_step": 105, "end_step": 194, "id": "reasoning-language-00002", "text": "Right hand: grasp: Right hand contacts the wooden handle of the yellow-headed hammer, closing fingers and adjusting grip position along the handle to form a stable grasp."}, {"label": "subtasks", "start_step": 195, "end_step": 224, "id": "reasoning-language-00003", "text": "Right hand: hold: Right hand holds the wooden handle of the yellow-headed hammer on the black textured mat without any observable movement of the hand or the hammer."}, {"label": "subtasks", "start_step": 225, "end_step": 239, "id": "reasoning-language-00004", "text": "Right hand: lift: Right hand lifts the yellow-headed wooden hammer upward, raising the hammer head off the black textured mat."}, {"label": "subtasks", "start_step": 240, "end_step": 261, "id": "reasoning-language-00005", "text": "Right hand: lift: Right hand lifts the yellow hammer upward from the black textured table surface."}, {"label": "subtasks", "start_step": 262, "end_step": 359, "id": "reasoning-language-00006", "text": "Right hand: transport: Right hand transports the yellow hammer leftward and upward while slightly rotating it, moving it to the position above the green peg on the wooden pegboard toy."}, {"label": "subtasks", "start_step": 360, "end_step": 404, "id": "reasoning-language-00007", "text": "Right hand: transport_press: Right hand transports the yellow hammer downward and presses its yellow head against the wooden board."}, {"label": "subtasks", "start_step": 405, "end_step": 427, "id": "reasoning-language-00008", "text": "Right hand: lift_transport: Right hand lifts the yellow hammer from the wooden board and transports it upward."}, {"label": "subtasks", "start_step": 428, "end_step": 449, "id": "reasoning-language-00009", "text": "Right hand: transport_press: Right hand transports the yellow hammer downward and presses its yellow head against the wooden board."}, {"label": "subtasks", "start_step": 450, "end_step": 471, "id": "reasoning-language-00010", "text": "Right hand: lift_transport: Right hand lifts the yellow hammer from the wooden board and transports it upward."}, {"label": "subtasks", "start_step": 472, "end_step": 501, "id": "reasoning-language-00011", "text": "Right hand: transport_press: Right hand transports the yellow hammer downward and presses its yellow head against the wooden board."}, {"label": "subtasks", "start_step": 502, "end_step": 524, "id": "reasoning-language-00012", "text": "Right hand: lift_transport: Right hand lifts the yellow hammer from the wooden board and transports it upward."}, {"label": "subtasks", "start_step": 525, "end_step": 554, "id": "reasoning-language-00013", "text": "Right hand: transport_press: Right hand transports the yellow hammer downward and presses its yellow head against the wooden board."}, {"label": "subtasks", "start_step": 555, "end_step": 577, "id": "reasoning-language-00014", "text": "Right hand: 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"subtasks", "start_step": 75, "end_step": 141, "id": "reasoning-language-00001", "text": "Right hand: reach: Right hand enters from the top-right of the frame, moves downward with spread fingers toward the wooden handle of the yellow hammer placed on the black work mat."}, {"label": "subtasks", "start_step": 142, "end_step": 254, "id": "reasoning-language-00002", "text": "Right hand: grasp: Right hand makes contact with the wooden hammer handle, fingers gradually close and adjust positions to form a stable grip around the handle, with the hammer remaining on the black mat."}, {"label": "subtasks", "start_step": 255, "end_step": 277, "id": "reasoning-language-00003", "text": "Right hand: lift: Right hand grips the hammer handle and moves upward, lifting the hammer completely off the black work mat."}, {"label": "subtasks", "start_step": 278, "end_step": 351, "id": "reasoning-language-00004", "text": "Right hand: transport: Right hand holds the lifted hammer and moves it leftward toward 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movement."}], "episode_index": 187} +{"source_uid": "7f303ba87be4edac", "num_frames": 880, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table.", "tags": {"task_name": "Hammer Nails", "task_instruction": "Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table.", "scene_description": "A hammer and two nails are placed on the table. 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contacting any objects. | Right hand: reach: Right hand moves from the top right edge of the frame down and left toward the wooden handle of the yellow mallet, remaining empty without contacting any objects."}, {"label": "valid", "start_step": 0, "end_step": 684, "id": "fgvNL87TW-zrAtKjUnCCd"}, {"label": "subtasks", "start_step": 120, "end_step": 239, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains partially visible at the left edge of the frame, empty and motionless without contacting any objects. | Right hand: grasp: Right hand makes contact with the wooden handle of the yellow mallet, fingers close and make small positional adjustments around the handle to establish a stable grip, while the mallet stays resting on the black work surface."}, {"label": "subtasks", "start_step": 240, "end_step": 299, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains partially visible at the left edge of the frame, empty and motionless without contacting any objects. | Right hand: lift: Right hand adjusts finger positions along the wooden hammer handle, lifts the hammer upward from the black workbench while rotating the hammer about a quarter turn counterclockwise, with the yellow hammer head rolling leftward on the workbench until the entire hammer is fully lifted off the workbench surface."}, {"label": "subtasks", "start_step": 300, "end_step": 314, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains partially visible at the left edge of the frame, empty and motionless without contacting any objects. | Right hand: transport: Right hand carries the fully suspended wooden hammer to move slightly downward, rotates the hammer further to face the yellow hammer head downward directly above the red peg on the light wooden platform."}, {"label": "subtasks", "start_step": 315, "end_step": 344, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains partially visible at the left edge of the frame, empty and motionless without contacting any objects. | Right hand: grasp: Right hand adjusts finger positions and grip strength on the wooden hammer handle to stabilize the hammer, keeping the yellow hammer head aligned directly above the red peg on the light wooden platform."}, {"label": "subtasks", "start_step": 345, "end_step": 419, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains partially visible at the left edge of the frame, empty and motionless without contacting any objects. | Right hand: grasp: Right hand adjusts finger positions on the wooden hammer handle to stabilize the grip, with slight finger and wrist movements."}, {"label": "subtasks", "start_step": 420, "end_step": 599, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains partially visible at the left edge of the frame, empty and motionless without contacting any objects. | Right hand: press: Right hand holds the wooden hammer and makes repeated small up-and-down vertical movements to apply downward pressure on the wooden peg on the perforated wooden base."}, {"label": "subtasks", "start_step": 600, "end_step": 614, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains partially visible at the left edge of the frame, empty and motionless without contacting any objects. | Right hand: grasp: Right hand adjusts finger positions to form a stable grasp on the wooden handle of the hammer positioned on the wooden platform."}, {"label": "subtasks", "start_step": 615, "end_step": 651, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains partially visible at the left edge of the frame, empty and motionless without contacting any objects. | Right hand: lift_transport: Right hand lifts the hammer completely away from the wooden platform and moves it horizontally to the right above the black table surface, with slight rotation of the hammer during movement."}, {"label": "subtasks", "start_step": 652, "end_step": 674, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains partially visible at the left edge of the frame, empty and motionless without contacting any objects. | Right hand: place_release: Right hand lowers the hammer onto the black table surface until the hammer is fully supported by the table, with fingers opening to release the hammer as the motion completes."}, {"label": "subtasks", "start_step": 675, "end_step": 719, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains partially visible at the left edge of the frame, empty and motionless without contacting any objects. | Right hand: retreat: Right hand moves empty upward and to the right away from the hammer resting on the black table surface."}, {"label": "home", "start_step": 685, "end_step": 833, "id": "qpt9hg04lzbJ_FeLBtveE"}, {"label": "subtasks", "start_step": 720, "end_step": 833, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains partially visible at the left edge of the frame, empty and motionless without contacting any objects."}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 119, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains partially visible at the left edge of the frame, empty and motionless without contacting any objects. | Right hand: reach: Right hand moves from the top right edge of the frame down and left toward the wooden handle of the yellow mallet, remaining empty without contacting any objects."}, {"label": "subtasks", "start_step": 120, "end_step": 239, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains partially visible at the left edge of the frame, empty and motionless without contacting any objects. | Right hand: grasp: Right hand makes contact with the wooden handle of the yellow mallet, fingers close and make small positional adjustments around the handle to establish a stable grip, while the mallet stays resting on the black work surface."}, {"label": "subtasks", "start_step": 240, "end_step": 299, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains partially visible at the left edge of the frame, empty and motionless without contacting any objects. | Right hand: lift: Right hand adjusts finger positions along the wooden hammer handle, lifts the hammer upward from the black workbench while rotating the hammer about a quarter turn counterclockwise, with the yellow hammer head rolling leftward on the workbench until the entire hammer is fully lifted off the workbench surface."}, {"label": "subtasks", "start_step": 300, "end_step": 314, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains partially visible at the left edge of the frame, empty and motionless without contacting any objects. | Right hand: transport: Right hand carries the fully suspended wooden hammer to move slightly downward, rotates the hammer further to face the yellow hammer head downward directly above the red peg on the light wooden platform."}, {"label": "subtasks", "start_step": 315, "end_step": 344, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains partially visible at the left edge of the frame, empty and motionless without contacting any objects. | Right hand: grasp: Right hand adjusts finger positions and grip strength on the wooden hammer handle to stabilize the hammer, keeping the yellow hammer head aligned directly above the red peg on the light wooden platform."}, {"label": "subtasks", "start_step": 345, "end_step": 419, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains partially visible at the left edge of the frame, empty and motionless without contacting any objects. | Right hand: grasp: Right hand adjusts finger positions on the wooden hammer handle to stabilize the grip, with slight finger and wrist movements."}, {"label": "subtasks", "start_step": 420, "end_step": 599, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains partially visible at the left edge of the frame, empty and motionless without contacting any objects. | Right hand: press: Right hand holds the wooden hammer and makes repeated small up-and-down vertical movements to apply downward pressure on the wooden peg on the perforated wooden base."}, {"label": "subtasks", "start_step": 600, "end_step": 614, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains partially visible at the left edge of the frame, empty and motionless without contacting any objects. | Right hand: grasp: Right hand adjusts finger positions to form a stable grasp on the wooden handle of the hammer positioned on the wooden platform."}, {"label": "subtasks", "start_step": 615, "end_step": 651, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains partially visible at the left edge of the frame, empty and motionless without contacting any objects. | Right hand: lift_transport: Right hand lifts the hammer completely away from the wooden platform and moves it horizontally to the right above the black table surface, with slight rotation of the hammer during movement."}, {"label": "subtasks", "start_step": 652, "end_step": 674, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains partially visible at the left edge of the frame, empty and motionless without contacting any objects. | Right hand: place_release: Right hand lowers the hammer onto the black table surface until the hammer is fully supported by the table, with fingers opening to release the hammer as the motion completes."}, {"label": "subtasks", "start_step": 675, "end_step": 719, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains partially visible at the left edge of the frame, empty and motionless without contacting any objects. | Right hand: retreat: Right hand moves empty upward and to the right away from the hammer resting on the black table surface."}, {"label": "subtasks", "start_step": 720, "end_step": 833, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains partially visible at the left edge of the frame, empty and motionless without contacting any objects."}], "episode_index": 202} +{"source_uid": "d3bf3c3924fa3b18", "num_frames": 870, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Hammer_Nails_v2", "tags": {"task_name": "Hammer_Nails_v2", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "B", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 67, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty and stationary, staying mostly outside the visible workspace (only briefly visible at the left frame edge at frame 0) with no observable movement or object contact. | Right hand: idle: Right hand remains empty and stationary, entering the visible frame at the top-right edge at frame 1 and staying in that position with no movement or object contact through frame 8."}, {"label": "valid", "start_step": 0, "end_step": 720, "id": "4Uda1v-VdPzZbxhL3MKb-"}, {"label": "subtasks", "start_step": 68, "end_step": 127, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and stationary, staying mostly outside the visible workspace (only briefly visible at the left frame edge at frame 0) with no observable movement or object contact. | Right hand: reach: Right hand moves downward toward the wooden handle of the yellow mallet, with fingers held in a slightly open posture, approaching the handle and making initial light contact at the end of this segment."}, {"label": "subtasks", "start_step": 128, "end_step": 194, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary, staying mostly outside the visible workspace (only briefly visible at the left frame edge at frame 0) with no observable movement or object contact. | Right hand: grasp: Right hand closes fingers around the wooden handle of the yellow mallet, making small adjustments to finger and wrist position to establish a firm grip, with the mallet remaining resting on the black textured work surface."}, {"label": "subtasks", "start_step": 195, "end_step": 217, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stationary, staying mostly outside the visible workspace (only briefly visible at the left frame edge at frame 0) with no observable movement or object contact. | Right hand: grasp: Right hand adjusts finger positions to establish a stable grip on the wooden handle of the yellow hammer resting on the black mat."}, {"label": "subtasks", "start_step": 218, "end_step": 239, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and stationary, staying mostly outside the visible workspace (only briefly visible at the left frame edge at frame 0) with no observable movement or object contact. | Right hand: lift: Right hand lifts the firmly gripped yellow hammer upward until the hammer is fully separated from the black supporting mat."}, {"label": "subtasks", "start_step": 240, "end_step": 277, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary, staying mostly outside the visible workspace (only briefly visible at the left frame edge at frame 0) with no observable movement or object contact. | Right hand: transport_place: Right hand moves the lifted yellow hammer leftward toward the wooden pegboard, lowering the hammer to rest against the pegboard surface."}, {"label": "subtasks", "start_step": 278, "end_step": 314, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary, staying mostly outside the visible workspace (only briefly visible at the left frame edge at frame 0) with no observable movement or object contact. | Right hand: hold: Right hand holds the yellow hammer steady against the wooden pegboard without any observable movement or grip adjustment."}, {"label": "subtasks", "start_step": 315, "end_step": 397, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary, staying mostly outside the visible workspace (only briefly visible at the left frame edge at frame 0) with no observable movement or object contact. | Right hand: press: Right hand holds the wooden hammer and makes small downward pressing motions against the peg on the perforated wooden board."}, {"label": "subtasks", "start_step": 398, "end_step": 457, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stationary, staying mostly outside the visible workspace (only briefly visible at the left frame edge at frame 0) with no observable movement or object contact. | Right hand: hold: Right hand holds the wooden hammer stationary against the peg on the perforated wooden board."}, {"label": "subtasks", "start_step": 458, "end_step": 547, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stationary, staying mostly outside the visible workspace (only briefly visible at the left frame edge at frame 0) with no observable movement or object contact. | Right hand: press: Right hand holds the wooden hammer and makes small downward pressing motions against the peg on the perforated wooden board."}, {"label": "subtasks", "start_step": 548, "end_step": 599, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stationary, staying mostly outside the visible workspace (only briefly visible at the left frame edge at frame 0) with no observable movement or object contact. | Right hand: hold: Right hand holds the wooden hammer stationary against the peg on the perforated wooden board."}, {"label": "subtasks", "start_step": 600, "end_step": 659, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and stationary, staying mostly outside the visible workspace (only briefly visible at the left frame edge at frame 0) with no observable movement or object contact. | Right hand: press: Right hand holds the wooden hammer, applies downward pressure on the peg and moves the hammer slightly upward over the board."}, {"label": "subtasks", "start_step": 660, "end_step": 674, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and stationary, staying mostly outside the visible workspace (only briefly visible at the left frame edge at frame 0) with no observable movement or object contact. | Right hand: lift: Right hand firmly grips the wooden handle of the yellow-headed hammer, lifts it upward and slightly rightward until the hammer completely leaves the black workbench surface and the wooden peg toy structure."}, {"label": "subtasks", "start_step": 675, "end_step": 697, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary, staying mostly outside the visible workspace (only briefly visible at the left frame edge at frame 0) with no observable movement or object contact. | Right hand: transport: Right hand holds the lifted hammer, moves it rightward across the space above the workbench, rotates the wrist slightly to angle the hammer head downward while moving toward the right side of the workbench."}, {"label": "subtasks", "start_step": 698, "end_step": 704, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary, staying mostly outside the visible workspace (only briefly visible at the left frame edge at frame 0) with no observable movement or object contact. | Right hand: place_release: Right hand lowers the hammer onto the black workbench surface, opens its fingers to release the hammer handle, separating the hand from the hammer."}, {"label": "subtasks", "start_step": 705, "end_step": 719, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and stationary, staying mostly outside the visible workspace (only briefly visible at the left frame edge at frame 0) with no observable movement or object contact. | Right hand: idle: Right hand remains empty at the upper right area above the workbench with no obvious movement."}, {"label": "subtasks", "start_step": 720, "end_step": 764, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and stationary, staying mostly outside the visible workspace (only briefly visible at the left frame edge at frame 0) with no observable movement or object contact. | Right hand: retreat: Right hand moves upward and rightward while empty, retreating out of the frame from the top-right edge."}, {"label": "home", "start_step": 721, "end_step": 869, "id": "vT7J_a1hpx72JeWOb3AHw"}, {"label": "subtasks", "start_step": 765, "end_step": 869, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary, staying mostly outside the visible workspace (only briefly visible at the left frame edge at frame 0) with no observable movement or object contact."}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 67, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty and stationary, staying mostly outside the visible workspace (only briefly visible at the left frame edge at frame 0) with no observable movement or object contact. | Right hand: idle: Right hand remains empty and stationary, entering the visible frame at the top-right edge at frame 1 and staying in that position with no movement or object contact through frame 8."}, {"label": "subtasks", "start_step": 68, "end_step": 127, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and stationary, staying mostly outside the visible workspace (only briefly visible at the left frame edge at frame 0) with no observable movement or object contact. | Right hand: reach: Right hand moves downward toward the wooden handle of the yellow mallet, with fingers held in a slightly open posture, approaching the handle and making initial light contact at the end of this segment."}, {"label": "subtasks", "start_step": 128, "end_step": 194, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary, staying mostly outside the visible workspace (only briefly visible at the left frame edge at frame 0) with no observable movement or object contact. | Right hand: grasp: Right hand closes fingers around the wooden handle of the yellow mallet, making small adjustments to finger and wrist position to establish a firm grip, with the mallet remaining resting on the black textured work surface."}, {"label": "subtasks", "start_step": 195, "end_step": 217, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stationary, staying mostly outside the visible workspace (only briefly visible at the left frame edge at frame 0) with no observable movement or object contact. | Right hand: grasp: Right hand adjusts finger positions to establish a stable grip on the wooden handle of the yellow hammer resting on the black mat."}, {"label": "subtasks", "start_step": 218, "end_step": 239, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and stationary, staying mostly outside the visible workspace (only briefly visible at the left frame edge at frame 0) with no observable movement or object contact. | Right hand: lift: Right hand lifts the firmly gripped yellow hammer upward until the hammer is fully separated from the black supporting mat."}, {"label": "subtasks", "start_step": 240, "end_step": 277, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary, staying mostly outside the visible workspace (only briefly visible at the left frame edge at frame 0) with no observable movement or object contact. | Right hand: transport_place: Right hand moves the lifted yellow hammer leftward toward the wooden pegboard, lowering the hammer to rest against the pegboard surface."}, {"label": "subtasks", "start_step": 278, "end_step": 314, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary, staying mostly outside the visible workspace (only briefly visible at the left frame edge at frame 0) with no observable movement or object contact. | Right hand: hold: Right hand holds the yellow hammer steady against the wooden pegboard without any observable movement or grip adjustment."}, {"label": "subtasks", "start_step": 315, "end_step": 397, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary, staying mostly outside the visible workspace (only briefly visible at the left frame edge at frame 0) with no observable movement or object contact. | Right hand: press: Right hand holds the wooden hammer and makes small downward pressing motions against the peg on the perforated wooden board."}, {"label": "subtasks", "start_step": 398, "end_step": 457, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stationary, staying mostly outside the visible workspace (only briefly visible at the left frame edge at frame 0) with no observable movement or object contact. | Right hand: hold: Right hand holds the wooden hammer stationary against the peg on the perforated wooden board."}, {"label": "subtasks", "start_step": 458, "end_step": 547, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stationary, staying mostly outside the visible workspace (only briefly visible at the left frame edge at frame 0) with no observable movement or object contact. | Right hand: press: Right hand holds the wooden hammer and makes small downward pressing motions against the peg on the perforated wooden board."}, {"label": "subtasks", "start_step": 548, "end_step": 599, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stationary, staying mostly outside the visible workspace (only briefly visible at the left frame edge at frame 0) with no observable movement or object contact. | Right hand: hold: Right hand holds the wooden hammer stationary against the peg on the perforated wooden board."}, {"label": "subtasks", "start_step": 600, "end_step": 659, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and stationary, staying mostly outside the visible workspace (only briefly visible at the left frame edge at frame 0) with no observable movement or object contact. | Right hand: press: Right hand holds the wooden hammer, applies downward pressure on the peg and moves the hammer slightly upward over the board."}, {"label": "subtasks", "start_step": 660, "end_step": 674, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and stationary, staying mostly outside the visible workspace (only briefly visible at the left frame edge at frame 0) with no observable movement or object contact. | Right hand: lift: Right hand firmly grips the wooden handle of the yellow-headed hammer, lifts it upward and slightly rightward until the hammer completely leaves the black workbench surface and the wooden peg toy structure."}, {"label": "subtasks", "start_step": 675, "end_step": 697, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary, staying mostly outside the visible workspace (only briefly visible at the left frame edge at frame 0) with no observable movement or object contact. | Right hand: transport: Right hand holds the lifted hammer, moves it rightward across the space above the workbench, rotates the wrist slightly to angle the hammer head downward while moving toward the right side of the workbench."}, {"label": "subtasks", "start_step": 698, "end_step": 704, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary, staying mostly outside the visible workspace (only briefly visible at the left frame edge at frame 0) with no observable movement or object contact. | Right hand: place_release: Right hand lowers the hammer onto the black workbench surface, opens its fingers to release the hammer handle, separating the hand from the hammer."}, {"label": "subtasks", "start_step": 705, "end_step": 719, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and stationary, staying mostly outside the visible workspace (only briefly visible at the left frame edge at frame 0) with no observable movement or object contact. | Right hand: idle: Right hand remains empty at the upper right area above the workbench with no obvious movement."}, {"label": "subtasks", "start_step": 720, "end_step": 764, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and stationary, staying mostly outside the visible workspace (only briefly visible at the left frame edge at frame 0) with no observable movement or object contact. | Right hand: retreat: Right hand moves upward and rightward while empty, retreating out of the frame from the top-right edge."}, {"label": "subtasks", "start_step": 765, "end_step": 869, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary, staying mostly outside the visible workspace (only briefly visible at the left frame edge at frame 0) with no observable movement or object contact."}], "episode_index": 203} +{"source_uid": "790fec263cb35f08", "num_frames": 801, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table.", "tags": {"task_name": "Hammer Nails", "task_instruction": "Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table.", "scene_description": "A hammer and two nails are placed on the table. 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188, "end_step": 194, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without any observable movement. | Right hand: lift: Right hand moves slightly upward while gripping the mallet handle, starting to lift the yellow mallet off the supporting surface."}, {"label": "subtasks", "start_step": 195, "end_step": 224, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without any observable movement. | Right hand: lift: Right hand holds the wooden hammer with a yellow rubber head, lifting it upward to raise the hammer close to fully off the black work surface."}, {"label": "subtasks", "start_step": 225, "end_step": 284, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without any observable movement. | Right hand: transport: Right hand carries the fully lifted hammer, moving leftward toward the wooden peg platform while rotating the hammer to a vertical orientation to align the yellow hammer head above the red pin on the platform."}, {"label": "subtasks", "start_step": 285, "end_step": 359, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without any observable movement."}, {"label": "subtasks", "start_step": 360, "end_step": 374, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without any observable movement. | Right hand: press: Right hand holds the wooden hammer and moves vertically downward to press the yellow hammer head against the green peg mounted on the wooden pegboard."}, {"label": "subtasks", "start_step": 375, "end_step": 411, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without any observable movement. | Right hand: grasp: Right hand makes slight finger adjustments and small wrist shifts to reposition and stabilize its grip on the wooden hammer handle."}, {"label": "subtasks", "start_step": 412, "end_step": 494, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without any observable movement. | Right hand: hold: Right hand holds the wooden hammer steadily, with the yellow hammer head aligned directly above the green peg, with no observable movement of the hand, fingers or hammer."}, {"label": "subtasks", "start_step": 495, "end_step": 554, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without any observable movement. | Right hand: press: Right hand holds the wooden hammer and moves vertically downward to press the yellow hammer head onto the green peg, applying downward force to the peg."}, {"label": "subtasks", "start_step": 555, "end_step": 577, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without any observable movement. | Right hand: grasp: Right hand adjusts finger positions on the wooden hammer handle to stabilize its grip, with the hammer resting on the wooden peg toy."}, {"label": "subtasks", "start_step": 578, "end_step": 591, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without any observable movement. | Right hand: lift: Right hand lifts the wooden hammer upward and rightward, raising the hammer completely off the wooden peg toy surface."}, {"label": "subtasks", "start_step": 592, "end_step": 629, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without any observable movement. | Right hand: transport: Right hand carries the lifted wooden hammer horizontally rightward across the black mat to the target placement area."}, {"label": "subtasks", "start_step": 630, "end_step": 644, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without any observable movement. | Right hand: place_release: Right hand lowers the wooden hammer to rest on the right side of the black mat, opening fingers to release contact with the hammer handle."}, {"label": "subtasks", "start_step": 645, "end_step": 689, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without any observable movement. | Right hand: retreat: Right hand moves empty upward and rightward away from the placed hammer, leaving the hammer operation area."}, {"label": "home", "start_step": 660, "end_step": 808, "id": "ZNslijPTU-iUiBx5TehBU"}, {"label": "subtasks", "start_step": 690, "end_step": 808, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without any observable movement."}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 59, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without any observable movement. | Right hand: idle: Right hand remains empty and stationary at the top-right edge of the frame."}, {"label": "subtasks", "start_step": 60, "end_step": 111, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without any observable movement. | Right hand: reach: Right hand moves down and left toward the wooden handle of the yellow mallet with slightly open fingers, approaching the handle without making stable contact."}, {"label": "subtasks", "start_step": 112, "end_step": 187, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without any observable movement. | Right hand: grasp: Right hand closes fingers around the wooden handle of the yellow mallet, adjusting finger position to form a stable grip while the mallet rests fully on the supporting surface."}, {"label": "subtasks", "start_step": 188, "end_step": 194, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without any observable movement. | Right hand: lift: Right hand moves slightly upward while gripping the mallet handle, starting to lift the yellow mallet off the supporting surface."}, {"label": "subtasks", "start_step": 195, "end_step": 224, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without any observable movement. | Right hand: lift: Right hand holds the wooden hammer with a yellow rubber head, lifting it upward to raise the hammer close to fully off the black work surface."}, {"label": "subtasks", "start_step": 225, "end_step": 284, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without any observable movement. | Right hand: transport: Right hand carries the fully lifted hammer, moving leftward toward the wooden peg platform while rotating the hammer to a vertical orientation to align the yellow hammer head above the red pin on the platform."}, {"label": "subtasks", "start_step": 285, "end_step": 359, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without any observable movement."}, {"label": "subtasks", "start_step": 360, "end_step": 374, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without any observable movement. | Right hand: press: Right hand holds the wooden hammer and moves vertically downward to press the yellow hammer head against the green peg mounted on the wooden pegboard."}, {"label": "subtasks", "start_step": 375, "end_step": 411, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without any observable movement. | Right hand: grasp: Right hand makes slight finger adjustments and small wrist shifts to reposition and stabilize its grip on the wooden hammer handle."}, {"label": "subtasks", "start_step": 412, "end_step": 494, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without any observable movement. | Right hand: hold: Right hand holds the wooden hammer steadily, with the yellow hammer head aligned directly above the green peg, with no observable movement of the hand, fingers or hammer."}, {"label": "subtasks", "start_step": 495, "end_step": 554, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without any observable movement. | Right hand: press: Right hand holds the wooden hammer and moves vertically downward to press the yellow hammer head onto the green peg, applying downward force to the peg."}, {"label": "subtasks", "start_step": 555, "end_step": 577, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without any observable movement. | Right hand: grasp: Right hand adjusts finger positions on the wooden hammer handle to stabilize its grip, with the hammer resting on the wooden peg toy."}, {"label": "subtasks", "start_step": 578, "end_step": 591, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without any observable movement. | Right hand: lift: Right hand lifts the wooden hammer upward and rightward, raising the hammer completely off the wooden peg toy surface."}, {"label": "subtasks", "start_step": 592, "end_step": 629, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without any observable movement. | Right hand: transport: Right hand carries the lifted wooden hammer horizontally rightward across the black mat to the target placement area."}, {"label": "subtasks", "start_step": 630, "end_step": 644, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without any observable movement. | Right hand: place_release: Right hand lowers the wooden hammer to rest on the right side of the black mat, opening fingers to release contact with the hammer handle."}, {"label": "subtasks", "start_step": 645, "end_step": 689, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without any observable movement. | Right hand: retreat: Right hand moves empty upward and rightward away from the placed hammer, leaving the hammer operation area."}, {"label": "subtasks", "start_step": 690, "end_step": 808, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without any observable movement."}], "episode_index": 211} +{"source_uid": "1716ace6667d3e46", "num_frames": 703, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table.", "tags": {"task_name": "Hammer Nails", "task_instruction": "Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table.", "scene_description": "A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back.", "success_criteria": "Both nails are hammered down securely, and the hammer is placed back stably on the table.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 203, "id": "subtask-001", "text": "Pick up the hammer from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 204, "end_step": 373, "id": "subtask-002", "text": "Hammer down the first nail with the right hand. | Skill: press", "task_skill": "press", "atomic_action": []}, {"label": "subtasks", "start_step": 374, "end_step": 458, "id": "subtask-003", "text": "Hammer down the second nail with the right hand. | Skill: press", "task_skill": "press", "atomic_action": []}, {"label": "subtasks", "start_step": 459, "end_step": 543, "id": "subtask-004", "text": "Place the hammer back on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 203, "id": "subtask-001", "text": "Pick up the hammer from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 204, "end_step": 373, "id": "subtask-002", "text": "Hammer down the first nail with the right hand. | Skill: press", "task_skill": "press", "atomic_action": []}, {"label": "subtasks", "start_step": 374, "end_step": 458, "id": "subtask-003", "text": "Hammer down the second nail with the right hand. | Skill: press", "task_skill": "press", "atomic_action": []}, {"label": "subtasks", "start_step": 459, "end_step": 543, "id": "subtask-004", "text": "Place the hammer back on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData/Hammer_Nails_v2/season_POC22048_2026_05_22_10_21_37_train/POC22048_2026_05_22_16_22_13_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/hammer_nails/season_POC22048_2026_05_22_10_21_37_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 147, "v40_language_source": "previous_published_lerobot", "episode_index": 212} +{"source_uid": "da687aece7f171c9", "num_frames": 785, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Hammer_Nails_v2", "tags": {"task_name": "Hammer_Nails_v2", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "B", "SOP": ""}, "segments": [{"label": "valid", "start_step": 0, "end_step": 636, "id": "Kuch8FCoIZwDqJaaOBDAi"}, {"label": "subtasks", "start_step": 15, "end_step": 104, "id": "reasoning-language-00001", "text": "Right hand: reach: Right hand enters from the right edge of the frame and moves leftward toward the yellow hammer on the black textured mat."}, {"label": "subtasks", "start_step": 105, "end_step": 134, "id": "reasoning-language-00002", "text": "Right hand: grasp: Right hand grasps the yellow head of the hammer, with fingers closing around the hammer head to adjust the grip."}, {"label": "subtasks", "start_step": 135, "end_step": 209, "id": "reasoning-language-00003", "text": "Right hand: grasp: Right hand closes its fingers to grasp the wooden handle of the yellow hammer on the black textured mat."}, {"label": "subtasks", "start_step": 210, "end_step": 231, "id": "reasoning-language-00004", "text": "Right hand: hold: Right hand holds the yellow hammer with a wooden handle on the right area of the black table surface without moving."}, {"label": "subtasks", "start_step": 232, "end_step": 247, "id": "reasoning-language-00005", "text": "Right hand: lift: Right hand lifts the yellow hammer upward and slightly leftward until it completely leaves the black table surface."}, {"label": "subtasks", "start_step": 248, "end_step": 329, "id": "reasoning-language-00006", "text": "Right hand: transport: Right hand transports the yellow hammer leftward while rotating it about 90 degrees to a nearly vertical orientation with the yellow head on top, moving it above the red peg on the wooden pegboard."}, {"label": "subtasks", "start_step": 330, "end_step": 359, "id": "reasoning-language-00007", "text": "Right hand: press: Right hand presses the red peg downward with the yellow hammer, pushing the peg into the perforated wooden board."}, {"label": "subtasks", "start_step": 360, "end_step": 397, "id": "reasoning-language-00008", "text": "Right hand: hold: Right hand holds the yellow hammer on the perforated wooden board with the red peg fully pressed in, without moving."}, {"label": "subtasks", "start_step": 398, "end_step": 419, "id": "reasoning-language-00009", "text": "Right hand: lift: Right hand lifts the yellow hammer upward from the perforated wooden board."}, {"label": "subtasks", "start_step": 420, "end_step": 449, "id": "reasoning-language-00010", "text": "Right hand: lift: Right hand lifts the yellow-headed wooden hammer slightly upward from the hole on the wooden board with green pegs."}, {"label": "subtasks", "start_step": 450, "end_step": 509, "id": "reasoning-language-00011", "text": "Right hand: hold: Right hand holds the yellow-headed wooden hammer stationary in the air above the wooden board with green pegs."}, {"label": "subtasks", "start_step": 510, "end_step": 554, "id": "reasoning-language-00012", "text": "Right hand: press: Right hand presses the yellow-headed wooden hammer downward along the vertical direction into the hole on the wooden board with green pegs."}, {"label": "subtasks", "start_step": 555, "end_step": 599, "id": "reasoning-language-00013", "text": "Right hand: lift_transport: Right hand lifts the yellow hammer off the wooden base and moves it rightward to above the right side of the black mat."}, {"label": "subtasks", "start_step": 600, "end_step": 614, "id": "reasoning-language-00014", "text": "Right hand: place_release: Right hand places the yellow hammer onto the black mat and releases its grip."}, {"label": "subtasks", "start_step": 615, "end_step": 629, "id": "reasoning-language-00015", "text": "Right hand: idle: Right hand remains empty above the right side of the black mat without moving."}, {"label": "subtasks", "start_step": 630, "end_step": 674, "id": "reasoning-language-00016", "text": "Right hand: retreat: Right hand stays empty and moves rightward, gradually exiting the frame from the right edge."}, {"label": "home", "start_step": 637, "end_step": 784, "id": "SguAIXHAtyynvQC5Vl0jO"}], "language_segments": [{"label": "subtasks", "start_step": 15, "end_step": 104, "id": "reasoning-language-00001", "text": "Right hand: reach: Right hand enters from the right edge of the frame and moves leftward toward the yellow hammer on the black textured mat."}, {"label": "subtasks", "start_step": 105, "end_step": 134, "id": "reasoning-language-00002", "text": "Right hand: grasp: Right hand grasps the yellow head of the hammer, with fingers closing around the hammer head to adjust the grip."}, {"label": "subtasks", "start_step": 135, "end_step": 209, "id": "reasoning-language-00003", "text": "Right hand: grasp: Right hand closes its fingers to grasp the wooden handle of the yellow hammer on the black textured mat."}, {"label": "subtasks", "start_step": 210, "end_step": 231, "id": "reasoning-language-00004", "text": "Right hand: hold: Right hand holds the yellow hammer with a wooden handle on the right area of the black table surface without moving."}, {"label": "subtasks", "start_step": 232, "end_step": 247, "id": "reasoning-language-00005", "text": "Right hand: lift: Right hand lifts the yellow hammer upward and slightly leftward until it completely leaves the black table surface."}, {"label": "subtasks", "start_step": 248, "end_step": 329, "id": "reasoning-language-00006", "text": "Right hand: transport: Right hand transports the yellow hammer leftward while rotating it about 90 degrees to a nearly vertical orientation with the yellow head on top, moving it above the red peg on the wooden pegboard."}, {"label": "subtasks", "start_step": 330, "end_step": 359, "id": "reasoning-language-00007", "text": "Right hand: press: Right hand presses the red peg downward with the yellow hammer, pushing the peg into the perforated wooden board."}, {"label": "subtasks", "start_step": 360, "end_step": 397, "id": "reasoning-language-00008", "text": "Right hand: hold: Right hand holds the yellow hammer on the perforated wooden board with the red peg fully pressed in, without moving."}, {"label": "subtasks", "start_step": 398, "end_step": 419, "id": "reasoning-language-00009", "text": "Right hand: lift: Right hand lifts the yellow hammer upward from the perforated wooden board."}, {"label": "subtasks", "start_step": 420, "end_step": 449, "id": "reasoning-language-00010", "text": "Right hand: lift: Right hand lifts the yellow-headed wooden hammer slightly upward from the hole on the wooden board with green pegs."}, {"label": "subtasks", "start_step": 450, "end_step": 509, "id": "reasoning-language-00011", "text": "Right hand: hold: Right hand holds the yellow-headed wooden hammer stationary in the air above the wooden board with green pegs."}, {"label": "subtasks", "start_step": 510, "end_step": 554, "id": "reasoning-language-00012", "text": "Right hand: press: Right hand presses the yellow-headed wooden hammer downward along the vertical direction into the hole on the wooden board with green pegs."}, {"label": "subtasks", "start_step": 555, "end_step": 599, "id": "reasoning-language-00013", "text": "Right hand: lift_transport: Right hand lifts the yellow hammer off the wooden base and moves it rightward to above the right side of the black mat."}, {"label": "subtasks", "start_step": 600, "end_step": 614, "id": "reasoning-language-00014", "text": "Right hand: place_release: Right hand places the yellow hammer onto the black mat and releases its grip."}, {"label": "subtasks", "start_step": 615, "end_step": 629, "id": "reasoning-language-00015", "text": "Right hand: idle: Right hand remains empty above the right side of the black mat without moving."}, {"label": "subtasks", "start_step": 630, "end_step": 674, "id": "reasoning-language-00016", "text": "Right hand: retreat: Right hand stays empty and moves rightward, gradually exiting the frame from the right edge."}], "episode_index": 213} +{"source_uid": "91079a5ed4d750e7", "num_frames": 773, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table.", "tags": {"task_name": "Hammer Nails", "task_instruction": "Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table.", "scene_description": "A hammer and two nails are placed on the table. 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{"label": "subtasks", "start_step": 315, "end_step": 389, "id": "reasoning-language-00006", "text": "Left hand: idle: Partially visible left hand stays at the far left edge of the frame, empty, with no observable movement or contact with any objects. | Right hand: hold: Right hand holds the yellow mallet steadily above the wooden peg toy, with no visible movement of the hand, fingers, or mallet."}, {"label": "subtasks", "start_step": 390, "end_step": 509, "id": "reasoning-language-00007", "text": "Left hand: idle: Partially visible left hand stays at the far left edge of the frame, empty, with no observable movement or contact with any objects. | Right hand: reorient: Right hand holds the mallet handle, slightly rotates the wrist to adjust the mallet's orientation with very little positional shift, with subtle finger adjustments to maintain grip."}, {"label": "subtasks", "start_step": 510, "end_step": 524, "id": "reasoning-language-00008", "text": "Left hand: idle: Partially visible left hand stays at the far left edge of the frame, empty, with no observable movement or contact with any objects. | Right hand: lift: Right hand grips the mallet handle and moves upward, lifting the yellow mallet head off the surface of the wooden peg board."}, {"label": "subtasks", "start_step": 525, "end_step": 569, "id": "reasoning-language-00009", "text": "Left hand: idle: Partially visible left hand stays at the far left edge of the frame, empty, with no observable movement or contact with any objects. | Right hand: lift_transport: Right hand holds the yellow wooden mallet, lifts it off the wooden peg toy, and moves it rightward to the position above the right area of the black table surface."}, {"label": "subtasks", "start_step": 570, "end_step": 577, "id": "reasoning-language-00010", "text": "Left hand: idle: Partially visible left hand stays at the far left edge of the frame, empty, with no observable movement or contact with any objects. | Right hand: place_release: Right hand lowers the yellow wooden mallet to the black table surface, opens fingers to release the mallet, letting it come to rest on the table."}, {"label": "subtasks", "start_step": 578, "end_step": 599, "id": "reasoning-language-00011", "text": "Left hand: idle: Partially visible left hand stays at the far left edge of the frame, empty, with no observable movement or contact with any objects. | Right hand: idle: Right hand remains empty above the placed yellow mallet without noticeable movement."}, {"label": "subtasks", "start_step": 600, "end_step": 644, "id": "reasoning-language-00012", "text": "Left hand: idle: Partially visible left hand stays at the far left edge of the frame, empty, with no observable movement or contact with any objects. | Right hand: retreat: Right hand stays empty, moves up and right away from the yellow-headed wooden mallet on the black work surface, and exits the top-right edge of the frame."}, {"label": "home", "start_step": 602, "end_step": 749, "id": "MhaV0UoyW1AcYDLnwqyl9"}, {"label": "subtasks", "start_step": 645, "end_step": 749, "id": "reasoning-language-00013", "text": "Left hand: idle: Partially visible left hand stays at the far left edge of the frame, empty, with no observable movement or contact with any objects."}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 59, "id": "reasoning-language-00001", "text": "Left hand: idle: Partially visible left hand stays at the far left edge of the frame, empty, with no observable movement or contact with any objects. | Right hand: reach: Empty right hand enters the frame from the top right edge and moves toward the central workspace without contacting any objects."}, {"label": "subtasks", "start_step": 60, "end_step": 134, "id": "reasoning-language-00002", "text": "Left hand: idle: Partially visible left hand stays at the far left edge of the frame, empty, with no observable movement or contact with any objects. | Right hand: reach: Right hand moves down-left toward the wooden handle of the yellow mallet with fingers extended, without contacting the mallet."}, {"label": "subtasks", "start_step": 135, "end_step": 224, "id": "reasoning-language-00003", "text": "Left hand: idle: Partially visible left hand stays at the far left edge of the frame, empty, with no observable movement or contact with any objects. | Right hand: grasp: Right hand closes fingers around the wooden handle of the yellow mallet, adjusting finger positions to establish a grip while the mallet rests on the black work surface."}, {"label": "subtasks", "start_step": 225, "end_step": 247, "id": "reasoning-language-00004", "text": "Left hand: idle: Partially visible left hand stays at the far left edge of the frame, empty, with no observable movement or contact with any objects. | Right hand: grasp: Right hand adjusts its fingers around the light wooden handle of the yellow mallet resting on the black work surface to form a stable grip."}, {"label": "subtasks", "start_step": 248, "end_step": 314, "id": "reasoning-language-00005", "text": "Left hand: idle: Partially visible left hand stays at the far left edge of the frame, empty, with no observable movement or contact with any objects. | Right hand: lift_transport: Right hand lifts the yellow mallet fully off the black work surface and moves it leftward toward the light wooden peg toy, carrying it to the position above the peg board."}, {"label": "subtasks", "start_step": 315, "end_step": 389, "id": "reasoning-language-00006", "text": "Left hand: idle: Partially visible left hand stays at the far left edge of the frame, empty, with no observable movement or contact with any objects. | Right hand: hold: Right hand holds the yellow mallet steadily above the wooden peg toy, with no visible movement of the hand, fingers, or mallet."}, {"label": "subtasks", "start_step": 390, "end_step": 509, "id": "reasoning-language-00007", "text": "Left hand: idle: Partially visible left hand stays at the far 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"reasoning-language-00012", "text": "Left hand: idle: Partially visible left hand stays at the far left edge of the frame, empty, with no observable movement or contact with any objects. | Right hand: retreat: Right hand stays empty, moves up and right away from the yellow-headed wooden mallet on the black work surface, and exits the top-right edge of the frame."}, {"label": "subtasks", "start_step": 645, "end_step": 749, "id": "reasoning-language-00013", "text": "Left hand: idle: Partially visible left hand stays at the far left edge of the frame, empty, with no observable movement or contact with any objects."}], "episode_index": 221} +{"source_uid": "f251463f898ac410", "num_frames": 787, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. 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apply downward pressure on the wooden peg."}, {"label": "subtasks", "start_step": 645, "end_step": 674, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty outside the left edge of the frame with no observable movement. | Right hand: lift: Right hand grips the wooden hammer handle and lifts the hammer upward until it is fully separated from the wooden peg toy base."}, {"label": "subtasks", "start_step": 675, "end_step": 697, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty outside the left edge of the frame with no observable movement. | Right hand: transport: Right hand carries the lifted wooden hammer and moves it horizontally to the right area of the black work surface."}, {"label": "subtasks", "start_step": 698, "end_step": 711, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty outside the left edge of the frame with no observable movement. | Right hand: reorient: Right hand rotates the held wooden hammer counterclockwise for about a quarter turn to adjust its orientation."}, {"label": "subtasks", "start_step": 712, "end_step": 734, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty outside the left edge of the frame with no observable movement. | Right hand: place_release: Right hand lowers the rotated wooden hammer down to the black work surface, then opens fingers to release the hammer onto the surface."}, {"label": "subtasks", "start_step": 735, "end_step": 794, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty outside the left edge of the frame with no observable movement. | Right hand: retreat: Right hand moves empty upward away from the yellow hammer placed on the black mat, traveling toward the top-right edge until it exits the visible frame."}, {"label": "subtasks", "start_step": 795, "end_step": 892, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty outside the left edge of the frame with no observable movement."}], "episode_index": 230} +{"source_uid": "214dd7b02ae9d745", "num_frames": 765, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Hammer_Nails_v2", "tags": {"task_name": "Hammer_Nails_v2", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "B", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 67, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without moving. | Right hand: idle: Right hand remains empty at the top right corner of the frame without moving."}, {"label": "valid", "start_step": 0, "end_step": 615, "id": "W1TPFG-hc3YqXeZhbe6Z9"}, {"label": "subtasks", "start_step": 68, "end_step": 149, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without moving. | Right hand: reach: Right hand moves downward and leftward from the top right corner toward the wooden handle of the yellow-headed mallet on the black work surface, with fingers slightly open, making initial contact with the handle by the end of the segment without forming a stable grasp."}, {"label": "subtasks", "start_step": 150, "end_step": 231, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without moving. | Right hand: grasp: Right hand closes fingers and makes slight adjustments to securely grip the wooden mallet handle resting on the black mat."}, {"label": "subtasks", "start_step": 232, "end_step": 247, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without moving. | Right hand: lift: Right hand lifts the gripped wooden mallet upward, fully separating it from the black supporting mat."}, {"label": "subtasks", "start_step": 248, "end_step": 299, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without moving. | Right hand: transport: Right hand carries the lifted wooden mallet through the air to the position above the wooden peg platform."}, {"label": "subtasks", "start_step": 300, "end_step": 329, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without moving. | Right hand: place: Right hand lowers the wooden mallet downward until the mallet head is supported by the wooden peg platform."}, {"label": "subtasks", "start_step": 330, "end_step": 449, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without moving. | Right hand: grasp: Right hand makes small adjustments to its grip on the wooden mallet handle, with slight finger movements and small vertical shifts of the mallet to stabilize the hold."}, {"label": "subtasks", "start_step": 450, "end_step": 487, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without moving. | Right hand: hold: Right hand holds the wooden mallet handle steadily, with no observable movement of the hand, fingers or the mallet."}, {"label": "subtasks", "start_step": 488, "end_step": 524, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without moving. | Right hand: press: Right hand presses the wooden mallet vertically downwards into the hole on the perforated wooden board, with minor finger adjustments during the pressing motion."}, {"label": "subtasks", "start_step": 525, "end_step": 577, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without moving. | Right hand: lift_transport: Right hand holds the wooden mallet, lifts it off the wooden pegboard, and transports it rightward to the area above the right side of the black work surface."}, {"label": "subtasks", "start_step": 578, "end_step": 599, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without moving. | Right hand: place_release: Right hand lowers the wooden mallet onto the right side of the black work surface, opens its fingers to release the mallet, and separates from the mallet handle as the mallet rests on the surface."}, {"label": "subtasks", "start_step": 600, "end_step": 659, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without moving. | Right hand: retreat: Right hand moves empty upward and rightward away from the placed mallet, retreating toward the upper right edge of the frame."}, {"label": "home", "start_step": 616, "end_step": 764, "id": "eGo-MjNGgOildzhKeDyab"}, {"label": "subtasks", "start_step": 660, "end_step": 764, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without moving."}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 67, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without moving. | Right hand: idle: Right hand remains empty at the top right corner of the frame without moving."}, {"label": "subtasks", "start_step": 68, "end_step": 149, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without moving. | Right hand: reach: Right hand moves downward and leftward from the top right corner toward the wooden handle of the yellow-headed mallet on the black work surface, with fingers slightly open, making initial contact with the handle by the end of the segment without forming a stable grasp."}, {"label": "subtasks", "start_step": 150, "end_step": 231, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without moving. | Right hand: grasp: Right hand closes fingers and makes slight adjustments to securely grip the wooden mallet handle resting on the black mat."}, {"label": "subtasks", "start_step": 232, "end_step": 247, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without moving. | Right hand: lift: Right hand lifts the gripped wooden mallet upward, fully separating it from the black supporting mat."}, {"label": "subtasks", "start_step": 248, "end_step": 299, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without moving. | Right hand: transport: Right hand carries the lifted wooden mallet through the air to the position above the wooden peg platform."}, {"label": "subtasks", "start_step": 300, "end_step": 329, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without moving. | Right hand: place: Right hand lowers the wooden mallet downward until the mallet head is supported by the wooden peg platform."}, {"label": "subtasks", "start_step": 330, "end_step": 449, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without moving. | Right hand: grasp: Right hand makes small adjustments to its grip on the wooden mallet handle, with slight finger movements and small vertical shifts of the mallet to stabilize the hold."}, {"label": "subtasks", "start_step": 450, "end_step": 487, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without moving. | Right hand: hold: Right hand holds the wooden mallet handle steadily, with no observable movement of the hand, fingers or the mallet."}, {"label": "subtasks", "start_step": 488, "end_step": 524, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without moving. | Right hand: press: Right hand presses the wooden mallet vertically downwards into the hole on the perforated wooden board, with minor finger adjustments during the pressing motion."}, {"label": "subtasks", "start_step": 525, "end_step": 577, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without moving. | Right hand: lift_transport: Right hand holds the wooden mallet, lifts it off the wooden pegboard, and transports it rightward to the area above the right side of the black work surface."}, {"label": "subtasks", "start_step": 578, "end_step": 599, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without moving. | Right hand: place_release: Right hand lowers the wooden mallet onto the right side of the black work surface, opens its fingers to release the mallet, and separates from the mallet handle as the mallet rests on the surface."}, {"label": "subtasks", "start_step": 600, "end_step": 659, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without moving. | Right hand: retreat: Right hand moves empty upward and rightward away from the placed mallet, retreating toward the upper right edge of the frame."}, {"label": "subtasks", "start_step": 660, "end_step": 764, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without moving."}], "episode_index": 231} +{"source_uid": "a9996bf0a742b125", "num_frames": 795, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table.", "tags": {"task_name": "Hammer Nails", "task_instruction": "Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table.", "scene_description": "A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back.", "success_criteria": "Both nails are hammered down securely, and the hammer is placed back stably on the table.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 180, "id": "subtask-001", "text": "Pick up the hammer from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 181, "end_step": 400, "id": "subtask-002", "text": "Hammer down the first nail with the right hand. | Skill: press", "task_skill": "press", "atomic_action": []}, {"label": "subtasks", "start_step": 401, "end_step": 535, "id": "subtask-003", "text": "Hammer down the second nail with the right hand. | Skill: press", "task_skill": "press", "atomic_action": []}, {"label": "subtasks", "start_step": 536, "end_step": 625, "id": "subtask-004", "text": "Place the hammer back 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"/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData/Hammer_Nails_v2/season_POC22048_2026_05_22_10_21_37_train/POC22048_2026_05_22_16_38_00_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/hammer_nails/season_POC22048_2026_05_22_10_21_37_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 163, "v40_language_source": "previous_published_lerobot", "episode_index": 232} +{"source_uid": "0a07241f64a127e5", "num_frames": 955, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Hammer_Nails_v2", "tags": {"task_name": "Hammer_Nails_v2", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "B", "SOP": ""}, "segments": [{"label": "valid", "start_step": 0, "end_step": 805, "id": "JjltjOKFoCRfnq86pQBwX"}, {"label": "subtasks", "start_step": 75, "end_step": 141, "id": "reasoning-language-00001", "text": "Right hand: reach: Right hand moves downward from the upper right of the frame while empty, approaching the wooden handle of the mallet placed on the black work surface."}, {"label": "subtasks", "start_step": 142, "end_step": 209, "id": "reasoning-language-00002", "text": "Right hand: grasp: Right hand curls its fingers to close around the wooden handle of the mallet, adjusting finger positions to form a stable grasp while the mallet remains resting on the table."}, {"label": "subtasks", "start_step": 210, "end_step": 247, "id": "reasoning-language-00003", "text": "Right hand: lift: Right hand lifts the grasped mallet upward until the entire mallet is fully separated from the supporting black work surface."}, {"label": "subtasks", "start_step": 248, "end_step": 329, "id": "reasoning-language-00004", "text": "Right hand: transport: Right hand carries the lifted mallet toward the central wooden peg platform, positioning the yellow mallet head above the red peg on the platform surface."}, {"label": "subtasks", "start_step": 330, "end_step": 359, "id": "reasoning-language-00005", "text": "Right hand: hold: Right hand holds the wooden mallet handle stationary, with the yellow mallet head positioned over the wooden peg on the perforated wooden board."}, {"label": "subtasks", "start_step": 360, "end_step": 584, "id": "reasoning-language-00006", "text": "Right hand: other:repeated_tapping: Right hand holds the wooden mallet handle and makes small repeated up and down movements, driving the yellow mallet head to repeatedly tap the wooden peg on the perforated wooden board."}, {"label": "subtasks", "start_step": 585, "end_step": 644, "id": "reasoning-language-00007", "text": "Right hand: hold: Right hand holds the wooden mallet handle without moving, with the yellow mallet head resting against the wooden peg on the perforated wooden board."}, {"label": "subtasks", "start_step": 645, "end_step": 689, "id": "reasoning-language-00008", "text": "Right hand: press: Right hand holds the wooden mallet handle and moves slightly downward, applying vertical pressure to the wooden peg via the yellow mallet head."}, {"label": "subtasks", "start_step": 690, "end_step": 704, "id": "reasoning-language-00009", "text": "Right hand: lift: Right hand grips the wooden mallet and lifts its wooden handle end off the black work surface."}, {"label": "subtasks", "start_step": 705, "end_step": 749, "id": "reasoning-language-00010", "text": "Right hand: transport: Right hand holds the lifted wooden mallet and moves it rightward through the air above the black textured work surface, away from the wooden peg toy with green posts."}, {"label": "subtasks", "start_step": 750, "end_step": 764, "id": "reasoning-language-00011", "text": "Right hand: place_release: Right hand lowers the wooden mallet to rest its yellow head on the right section of the black work surface, opens fingers to release the mallet handle so the mallet lies flat on the surface."}, {"label": "subtasks", "start_step": 765, "end_step": 809, "id": "reasoning-language-00012", "text": "Right hand: idle: Right hand remains empty above the right section of the black work surface, with no visible movement of the hand or fingers."}, {"label": "home", "start_step": 806, "end_step": 954, "id": "JR6OIsAkAEiJz5Nnrhs54"}, {"label": "subtasks", "start_step": 810, "end_step": 854, "id": "reasoning-language-00013", "text": "Right hand: retreat: Right hand moves upward toward the top-right edge of the frame while empty, exiting the frame through the top-right edge."}, {"label": "subtasks", "start_step": 945, "end_step": 954, "id": "reasoning-language-00014", "text": "Right hand: reach_grasp: Right hand enters the frame from the top-right edge, moves toward the yellow head of the wooden mallet, closing fingers around the mallet head."}], "language_segments": [{"label": "subtasks", "start_step": 75, "end_step": 141, "id": "reasoning-language-00001", "text": "Right hand: reach: Right hand moves downward from the upper right of the frame while empty, approaching the wooden handle of the mallet placed on the black work surface."}, {"label": "subtasks", "start_step": 142, "end_step": 209, "id": "reasoning-language-00002", "text": "Right hand: grasp: Right hand curls its fingers to close around the wooden handle of the mallet, adjusting finger positions to form a stable grasp while the mallet remains resting on the table."}, {"label": "subtasks", "start_step": 210, "end_step": 247, "id": "reasoning-language-00003", "text": "Right hand: lift: Right hand lifts the grasped mallet upward until the entire mallet is fully separated from the supporting black work surface."}, {"label": "subtasks", "start_step": 248, "end_step": 329, "id": "reasoning-language-00004", "text": "Right hand: transport: Right hand carries the lifted mallet toward the central wooden peg platform, positioning the yellow mallet head above the red peg on the platform surface."}, {"label": "subtasks", "start_step": 330, "end_step": 359, "id": "reasoning-language-00005", "text": "Right hand: hold: Right hand holds the wooden mallet handle stationary, with the yellow mallet head positioned over the wooden peg on the perforated wooden board."}, {"label": "subtasks", "start_step": 360, "end_step": 584, "id": "reasoning-language-00006", "text": "Right hand: other:repeated_tapping: Right hand holds the wooden mallet handle and makes small repeated up and down movements, driving the yellow mallet head to repeatedly tap the wooden peg on the perforated wooden board."}, {"label": "subtasks", "start_step": 585, "end_step": 644, "id": "reasoning-language-00007", "text": "Right hand: hold: Right hand holds the wooden mallet handle without moving, with the yellow mallet head resting against the wooden peg on the perforated wooden board."}, {"label": "subtasks", "start_step": 645, "end_step": 689, "id": "reasoning-language-00008", "text": "Right hand: press: Right hand holds the wooden mallet handle and moves slightly downward, applying vertical pressure to the wooden peg via the yellow mallet head."}, {"label": "subtasks", "start_step": 690, "end_step": 704, "id": "reasoning-language-00009", "text": "Right hand: lift: Right hand grips the wooden mallet and lifts its wooden handle end off the black work surface."}, {"label": "subtasks", "start_step": 705, "end_step": 749, "id": "reasoning-language-00010", "text": "Right hand: transport: Right hand holds the lifted wooden mallet and moves it rightward through the air above the black textured work surface, away from the wooden peg toy with green posts."}, {"label": "subtasks", "start_step": 750, "end_step": 764, "id": "reasoning-language-00011", "text": "Right hand: place_release: Right hand lowers the wooden mallet to rest its yellow head on the right section of the black work surface, opens fingers to release the mallet handle so the mallet lies flat on the surface."}, {"label": "subtasks", "start_step": 765, "end_step": 809, "id": "reasoning-language-00012", "text": "Right hand: idle: Right hand remains empty above the right section of the black work surface, with no visible movement of the hand or fingers."}, {"label": "subtasks", "start_step": 810, "end_step": 854, "id": "reasoning-language-00013", "text": "Right hand: retreat: Right hand moves upward toward the top-right edge of the frame while empty, exiting the frame through the top-right edge."}, {"label": "subtasks", "start_step": 945, "end_step": 954, "id": "reasoning-language-00014", "text": "Right hand: reach_grasp: Right hand enters the frame from the top-right edge, moves toward the yellow head of the wooden mallet, closing fingers around the mallet head."}], "episode_index": 233} +{"source_uid": "1a05a663aa691c08", "num_frames": 865, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Hammer_Nails_v2", "tags": {"task_name": "Hammer_Nails_v2", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "B", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 134, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand is partially visible at the far left edge of the frame in the first few frames before moving out of view, remaining empty with no observable operational movement across the entire segment. | Right hand: reach: Right hand starts at the top-right edge of the frame and moves downward toward the wooden handle of the yellow mallet, remaining empty with fingers slightly extended as it approaches the target."}, {"label": "valid", "start_step": 0, "end_step": 716, "id": "OUJF6gjkQ7_n8wvojLOS1"}, {"label": "subtasks", "start_step": 135, "end_step": 194, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand is partially visible at the far left edge of the frame in the first few frames before moving out of view, remaining empty with no observable operational movement across the entire segment. | Right hand: grasp: Right hand makes contact with the wooden handle of the yellow mallet, fingers close around the handle and make small adjustments to establish a grip, while the mallet stays resting on the black textured work surface."}, {"label": "subtasks", "start_step": 195, "end_step": 217, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand is partially visible at the far left edge of the frame in the first few frames before moving out of view, remaining empty with no observable operational movement across the entire segment. | Right hand: grasp: Right hand adjusts finger positions to form a stable grasp on the wooden handle of the yellow mallet, which rests fully on the black table surface."}, {"label": "subtasks", "start_step": 218, "end_step": 261, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand is partially visible at the far left edge of the frame in the first few frames before moving out of view, remaining empty with no observable operational movement across the entire segment. | Right hand: lift: Right hand lifts the grasped yellow mallet upward, gradually raising the mallet until it is completely lifted off the black table surface."}, {"label": "subtasks", "start_step": 262, "end_step": 291, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand is partially visible at the far left edge of the frame in the first few frames before moving out of view, remaining empty with no observable operational movement across the entire segment. | Right hand: transport: Right hand moves the fully lifted yellow mallet leftward toward the central wooden peg board, with the mallet suspended in air during movement."}, {"label": "subtasks", "start_step": 292, "end_step": 337, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand is partially visible at the far left edge of the frame in the first few frames before moving out of view, remaining empty with no observable operational movement across the entire segment. | Right hand: hold: Right hand holds the yellow mallet stationary, with the mallet head resting against the left green support post of the peg board and the mallet handle end touching the black table surface."}, {"label": "subtasks", "start_step": 338, "end_step": 389, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand is partially visible at the far left edge of the frame in the first few frames before moving out of view, remaining empty with no observable operational movement across the entire segment. | Right hand: place: Right hand moves the grasped yellow mallet downward to place the mallet head onto the surface of the wooden peg board, until the mallet head is stably supported by the board."}, {"label": "subtasks", "start_step": 390, "end_step": 479, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand is partially visible at the far left edge of the frame in the first few frames before moving out of view, remaining empty with no observable operational movement across the entire segment."}, {"label": "subtasks", "start_step": 480, "end_step": 561, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand is partially visible at the far left edge of the frame in the first few frames before moving out of view, remaining empty with no observable operational movement across the entire segment. | Right hand: press: Right hand holds the wooden mallet, moves it vertically downward to press the yellow cylindrical peg on the holed wooden board, applying downward pressure to push the peg slightly through the board hole."}, {"label": "subtasks", "start_step": 562, "end_step": 629, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand is partially visible at the far left edge of the frame in the first few frames before moving out of view, remaining empty with no observable operational movement across the entire segment. | Right hand: transport: Right hand holds the wooden mallet, moves it slightly upward and repositions it directly above the yellow peg, carrying the mallet over a small spatial range."}, {"label": "subtasks", "start_step": 630, "end_step": 644, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand is partially visible at the far left edge of the frame in the first few frames before moving out of view, remaining empty with no observable operational movement across the entire segment. | Right hand: lift: Right hand grips the wooden mallet and lifts it upward, raising the mallet completely clear of the wooden peg platform."}, {"label": "subtasks", "start_step": 645, "end_step": 674, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand is partially visible at the far left edge of the frame in the first few frames before moving out of view, remaining empty with no observable operational movement across the entire segment. | Right hand: transport: Right hand carries the lifted wooden mallet along an arcing path up to the upper right area and down toward the black table surface."}, {"label": "subtasks", "start_step": 675, "end_step": 689, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand is partially visible at the far left edge of the frame in the first few frames before moving out of view, remaining empty with no observable operational movement across the entire segment. | Right hand: place_release: Right hand lowers the wooden mallet onto the black table surface, opens its fingers to release the mallet, leaving the mallet fully supported on the table with the hand separated from the mallet."}, {"label": "subtasks", "start_step": 690, "end_step": 719, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand is partially visible at the far left edge of the frame in the first few frames before moving out of view, remaining empty with no observable operational movement across the entire segment. | Right hand: retreat: Right hand, empty after releasing the mallet, moves upward and away from the mallet's position on the table."}, {"label": "home", "start_step": 717, "end_step": 864, "id": "OXwhpV79rwGzekazN9b7V"}, {"label": "subtasks", "start_step": 720, "end_step": 854, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand is partially visible at the far left edge of the frame in the first few frames before moving out of view, remaining empty with no observable operational movement across the entire segment."}, {"label": "subtasks", "start_step": 855, "end_step": 864, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand is partially visible at the far left edge of the frame in the first few frames before moving out of view, remaining empty with no observable operational movement across the entire segment. | Right hand: reach: Right hand enters from the top-right edge of the frame and moves downward toward the yellow wooden mallet, approaching the yellow mallet head."}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 134, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand is partially visible at the far left edge of the frame in the first few frames before moving out of view, remaining empty with no observable operational movement across the entire segment. | Right hand: reach: Right hand starts at the top-right edge of the frame and moves downward toward the wooden handle of the yellow mallet, remaining empty with fingers slightly extended as it approaches the target."}, {"label": "subtasks", "start_step": 135, "end_step": 194, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand is partially visible at the far left edge of the frame in the first few frames before moving out of view, remaining empty with no observable operational movement across the entire segment. | Right hand: grasp: Right hand makes contact with the wooden handle of the yellow mallet, fingers close around the handle and make small adjustments to establish a grip, while the mallet stays resting on the black textured work surface."}, {"label": "subtasks", "start_step": 195, "end_step": 217, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand is partially visible at the far left edge of the frame in the first few frames before moving out of view, remaining empty with no observable operational movement across the entire segment. | Right hand: grasp: Right hand adjusts finger positions to form a stable grasp on the wooden handle of the yellow mallet, which rests fully on the black table surface."}, {"label": "subtasks", "start_step": 218, "end_step": 261, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand is partially visible at the far left edge of the frame in the first few frames before moving out of view, remaining empty with no observable operational movement across the entire segment. | Right hand: lift: Right hand lifts the grasped yellow mallet upward, gradually raising the mallet until it is completely lifted off the black table surface."}, {"label": "subtasks", "start_step": 262, "end_step": 291, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand is partially visible at the far left edge of the frame in the first few frames before moving out of view, remaining empty with no observable operational movement across the entire segment. | Right hand: transport: Right hand moves the fully lifted yellow mallet leftward toward the central wooden peg board, with the mallet suspended in air during movement."}, {"label": "subtasks", "start_step": 292, "end_step": 337, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand is partially visible at the far left edge of the frame in the first few frames before moving out of view, remaining empty with no observable operational movement across the entire segment. | Right hand: hold: Right hand holds the yellow mallet stationary, with the mallet head resting against the left green support post of the peg board and the mallet handle end touching the black table surface."}, {"label": "subtasks", "start_step": 338, "end_step": 389, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand is partially visible at the far left edge of the frame in the first few frames before moving out of view, remaining empty with no observable operational movement across the entire segment. | Right hand: place: Right hand moves the grasped yellow mallet downward to place the mallet head onto the surface of the wooden peg board, until the mallet head is stably supported by the board."}, {"label": "subtasks", "start_step": 390, "end_step": 479, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand is partially visible at the far left edge of the frame in the first few frames before moving out of view, remaining empty with no observable operational movement across the entire segment."}, {"label": "subtasks", "start_step": 480, "end_step": 561, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand is partially visible at the far left edge of the frame in the first few frames before moving out of view, remaining empty with no observable operational movement across the entire segment. | Right hand: press: Right hand holds the wooden mallet, moves it vertically downward to press the yellow cylindrical peg on the holed wooden board, applying downward pressure to push the peg slightly through the board hole."}, {"label": "subtasks", "start_step": 562, "end_step": 629, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand is partially visible at the far left edge of the frame in the first few frames before moving out of view, remaining empty with no observable operational movement across the entire segment. | Right hand: transport: Right hand holds the wooden mallet, moves it slightly upward and repositions it directly above the yellow peg, carrying the mallet over a small spatial range."}, {"label": "subtasks", "start_step": 630, "end_step": 644, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand is partially visible at the far left edge of the frame in the first few frames before moving out of view, remaining empty with no observable operational movement across the entire segment. | Right hand: lift: Right hand grips the wooden mallet and lifts it upward, raising the mallet completely clear of the wooden peg platform."}, {"label": "subtasks", "start_step": 645, "end_step": 674, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand is partially visible at the far left edge of the frame in the first few frames before moving out of view, remaining empty with no observable operational movement across the entire segment. | Right hand: transport: Right hand carries the lifted wooden mallet along an arcing path up to the upper right area and down toward the black table surface."}, {"label": "subtasks", "start_step": 675, "end_step": 689, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand is partially visible at the far left edge of the frame in the first few frames before moving out of view, remaining empty with no observable operational movement across the entire segment. | Right hand: place_release: Right hand lowers the wooden mallet onto the black table surface, opens its fingers to release the mallet, leaving the mallet fully supported on the table with the hand separated from the mallet."}, {"label": "subtasks", "start_step": 690, "end_step": 719, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand is partially visible at the far left edge of the frame in the first few frames before moving out of view, remaining empty with no observable operational movement across the entire segment. | Right hand: retreat: Right hand, empty after releasing the mallet, moves upward and away from the mallet's position on the table."}, {"label": "subtasks", "start_step": 720, "end_step": 854, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand is partially visible at the far left edge of the frame in the first few frames before moving out of view, remaining empty with no observable operational movement across the entire segment."}, {"label": "subtasks", "start_step": 855, "end_step": 864, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand is partially visible at the far left edge of the frame in the first few frames before moving out of view, remaining empty with no observable operational movement across the entire segment. | Right hand: reach: Right hand enters from the top-right edge of the frame and moves downward toward the yellow wooden mallet, approaching the yellow mallet head."}], "episode_index": 234} +{"source_uid": "5aa8b40ba49e6bd4", "num_frames": 859, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Hammer_Nails_v2", "tags": {"task_name": "Hammer_Nails_v2", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "B", "SOP": ""}, "segments": [{"label": "valid", "start_step": 0, "end_step": 710, "id": "_told-r2i5w-I_PLBJ77U"}, {"label": "subtasks", "start_step": 60, "end_step": 111, "id": "reasoning-language-00001", "text": "Right hand: reach: Right hand moves diagonally down-left from the top-right edge of the frame toward the wooden handle of the yellow-headed hammer, staying empty without touching the hammer."}, {"label": "subtasks", "start_step": 112, "end_step": 194, "id": "reasoning-language-00002", "text": "Right hand: grasp: Right hand makes contact with the wooden handle of the hammer, closing fingers and making slight positional adjustments to form a grip on the handle."}, {"label": "subtasks", "start_step": 195, "end_step": 217, "id": "reasoning-language-00003", "text": "Right hand: grasp: Right hand adjusts finger positions to firmly close around the wooden handle of the yellow-headed hammer resting on the black work surface to the right of the wooden bench."}, {"label": "subtasks", "start_step": 218, "end_step": 247, "id": "reasoning-language-00004", "text": "Right hand: lift: Right hand lifts the grasped hammer upward, raising the entire hammer completely off the black supporting work surface."}, {"label": "subtasks", "start_step": 248, "end_step": 299, "id": "reasoning-language-00005", "text": "Right hand: transport: Right hand carries the lifted hammer leftward through the air, moving it to the position directly above the central wooden workbench."}, {"label": "subtasks", "start_step": 300, "end_step": 321, "id": "reasoning-language-00006", "text": "Right hand: place: Right hand lowers the hammer downward, setting the yellow hammer head onto the surface of the central wooden workbench until the hammer is supported by the bench."}, {"label": "subtasks", "start_step": 322, "end_step": 419, "id": "reasoning-language-00007", "text": "Right hand: hold: Right hand holds the wooden handle of the hammer stationary, with the yellow hammer head resting supported on the central wooden workbench, with no observable movement of the hand or hammer."}, {"label": "subtasks", "start_step": 420, "end_step": 517, "id": "reasoning-language-00008", "text": "Right hand: grasp: Right hand adjusts finger positions on the wooden hammer handle and makes small wrist movements to slightly rotate and reposition the hammer, stabilizing the grip above the workbench."}, {"label": "subtasks", "start_step": 518, "end_step": 554, "id": "reasoning-language-00009", "text": "Right hand: hold: Right hand holds the wooden hammer steadily above the workbench, with no observable movement of the fingers, wrist or the hammer itself."}, {"label": "subtasks", "start_step": 555, "end_step": 614, "id": "reasoning-language-00010", "text": "Right hand: grasp: Right hand slightly adjusts finger contact points on the hammer handle and moves the wrist to make minor positional adjustments to the hammer above the workbench to stabilize the grip."}, {"label": "subtasks", "start_step": 615, "end_step": 637, "id": "reasoning-language-00011", "text": "Right hand: lift: Right hand firmly grips the handle of the yellow-headed wooden hammer and lifts it upward, separating it from the surface of the wooden peg toy base."}, {"label": "subtasks", "start_step": 638, "end_step": 674, "id": "reasoning-language-00012", "text": "Right hand: transport: Right hand holds the hammer and moves it horizontally rightward through the air to the position above the right side of the black table."}, {"label": "subtasks", "start_step": 675, "end_step": 689, "id": "reasoning-language-00013", "text": "Right hand: place_release: Right hand lowers the hammer down to contact the black table surface, opens its fingers to release the hammer, leaving it lying stably on the table."}, {"label": "subtasks", "start_step": 690, "end_step": 704, "id": "reasoning-language-00014", "text": "Right hand: retreat: Right hand moves slightly upward away from the placed hammer, staying empty as it pulls back from the hammer's position."}, {"label": "home", "start_step": 711, "end_step": 858, "id": "zHnp5Rb4Ndqmblm3-VZnc"}], "language_segments": [{"label": "subtasks", "start_step": 60, "end_step": 111, "id": "reasoning-language-00001", "text": "Right hand: reach: Right hand moves diagonally down-left from the top-right edge of the frame toward the wooden handle of the yellow-headed hammer, staying empty without touching the hammer."}, {"label": "subtasks", "start_step": 112, "end_step": 194, "id": "reasoning-language-00002", "text": "Right hand: grasp: Right hand makes contact with the wooden handle of the hammer, closing fingers and making slight positional adjustments to form a grip on the handle."}, {"label": "subtasks", "start_step": 195, "end_step": 217, "id": "reasoning-language-00003", "text": "Right hand: grasp: Right hand adjusts finger positions to firmly close around the wooden handle of the yellow-headed hammer resting on the black work surface to the right of the wooden bench."}, {"label": "subtasks", "start_step": 218, "end_step": 247, "id": "reasoning-language-00004", "text": "Right hand: lift: Right hand lifts the grasped hammer upward, raising the entire hammer completely off the black supporting work surface."}, {"label": "subtasks", "start_step": 248, "end_step": 299, "id": "reasoning-language-00005", "text": "Right hand: transport: Right hand carries the lifted hammer leftward through the air, moving it to the position directly above the central wooden workbench."}, {"label": "subtasks", "start_step": 300, "end_step": 321, "id": "reasoning-language-00006", "text": "Right hand: place: Right hand lowers the hammer downward, setting the yellow hammer head onto the surface of the central wooden workbench until the hammer is supported by the bench."}, {"label": "subtasks", "start_step": 322, "end_step": 419, "id": "reasoning-language-00007", "text": "Right hand: hold: Right hand holds the wooden handle of the hammer stationary, with the yellow hammer head resting supported on the central wooden workbench, with no observable movement of the hand or hammer."}, {"label": "subtasks", "start_step": 420, "end_step": 517, "id": "reasoning-language-00008", "text": "Right hand: grasp: Right hand adjusts finger positions on the wooden hammer handle and makes small wrist movements to slightly rotate and reposition the hammer, stabilizing the grip above the workbench."}, {"label": "subtasks", "start_step": 518, "end_step": 554, "id": "reasoning-language-00009", "text": "Right hand: hold: Right hand holds the wooden hammer steadily above the workbench, with no observable movement of the fingers, wrist or the hammer itself."}, {"label": "subtasks", "start_step": 555, "end_step": 614, "id": "reasoning-language-00010", "text": "Right hand: grasp: Right hand slightly adjusts finger contact points on the hammer handle and moves the wrist to make minor positional adjustments to the hammer above the workbench to stabilize the grip."}, {"label": "subtasks", "start_step": 615, "end_step": 637, "id": "reasoning-language-00011", "text": "Right hand: lift: Right hand firmly grips the handle of the yellow-headed wooden hammer and lifts it upward, separating it from the surface of the wooden peg toy base."}, {"label": "subtasks", "start_step": 638, "end_step": 674, "id": "reasoning-language-00012", "text": "Right hand: transport: Right hand holds the hammer and moves it horizontally rightward through the air to the position above the right side of the black table."}, {"label": "subtasks", "start_step": 675, "end_step": 689, "id": "reasoning-language-00013", "text": "Right hand: place_release: Right hand lowers the hammer down to contact the black table surface, opens its fingers to release the hammer, leaving it lying stably on the table."}, {"label": "subtasks", "start_step": 690, "end_step": 704, "id": "reasoning-language-00014", "text": "Right hand: retreat: Right hand moves slightly upward away from the placed hammer, staying empty as it pulls back from the hammer's position."}], "episode_index": 235} +{"source_uid": "b46fdeece081c744", "num_frames": 782, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table.", "tags": {"task_name": "Hammer Nails", "task_instruction": "Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table.", "scene_description": "A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back.", "success_criteria": "Both nails are hammered down securely, and the hammer is placed back stably on the table.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 210, "id": "subtask-001", "text": "Pick up the hammer from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 211, "end_step": 385, "id": "subtask-002", "text": "Hammer down the first nail with the right hand. | Skill: press", "task_skill": "press", "atomic_action": []}, {"label": "subtasks", "start_step": 386, "end_step": 525, "id": "subtask-003", "text": "Hammer down the second nail with the right hand. | Skill: press", "task_skill": "press", "atomic_action": []}, {"label": "subtasks", "start_step": 526, "end_step": 620, "id": "subtask-004", "text": "Place the hammer back on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 210, "id": "subtask-001", "text": "Pick up the hammer from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 211, "end_step": 385, "id": "subtask-002", "text": "Hammer down the first nail with the right hand. | Skill: press", "task_skill": "press", "atomic_action": []}, {"label": "subtasks", "start_step": 386, "end_step": 525, "id": "subtask-003", "text": "Hammer down the second nail with the right hand. | Skill: press", "task_skill": "press", "atomic_action": []}, {"label": "subtasks", "start_step": 526, "end_step": 620, "id": "subtask-004", "text": "Place the hammer back on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData/Hammer_Nails_v2/season_POC22048_2026_05_22_10_21_37_train/POC22048_2026_05_22_16_42_26_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/hammer_nails/season_POC22048_2026_05_22_10_21_37_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 164, "v40_language_source": "previous_published_lerobot", "episode_index": 236} +{"source_uid": "f81cf63f7c14fd1c", "num_frames": 813, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Hammer_Nails_v2", "tags": {"task_name": "Hammer_Nails_v2", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "B", "SOP": ""}, "segments": [{"label": "valid", "start_step": 0, "end_step": 664, "id": "0Rkd1VW-HIPgPGemM4yN6"}, {"label": "subtasks", "start_step": 15, "end_step": 127, "id": "reasoning-language-00001", "text": "Right hand: reach: Right hand moves leftward from the right edge of the frame toward the wooden handle of the yellow mallet, remaining empty and not contacting the mallet."}, {"label": "subtasks", "start_step": 128, "end_step": 149, "id": "reasoning-language-00002", "text": "Right hand: grasp: Right hand grasps the wooden handle of the yellow mallet, with fingers closing around the handle to establish a stable grip."}, {"label": "subtasks", "start_step": 150, "end_step": 179, "id": "reasoning-language-00003", "text": "Right hand: grasp: Right hand closes its fingers to grasp the wooden handle of the yellow-headed hammer on the black textured mat."}, {"label": "subtasks", "start_step": 180, "end_step": 224, "id": "reasoning-language-00004", "text": "Right hand: lift: Right hand lifts the yellow-headed mallet by its wooden handle from the black textured table surface, moving it upward and leftward until the mallet is fully off the surface."}, {"label": "subtasks", "start_step": 225, "end_step": 269, "id": "reasoning-language-00005", "text": "Right hand: transport: Right hand transports the yellow-headed mallet leftward and upward to the area above the wooden pegboard, rotating the mallet so its yellow head faces upward."}, {"label": "subtasks", "start_step": 270, "end_step": 307, "id": "reasoning-language-00006", "text": "Right hand: transport: Right hand carries the mallet and moves it downward to make the mallet head contact the green peg on the wooden board."}, {"label": "subtasks", "start_step": 308, "end_step": 344, "id": "reasoning-language-00007", "text": "Right hand: hold: Right hand holds the mallet with its head resting on the green peg without moving."}, {"label": "subtasks", "start_step": 345, "end_step": 374, "id": "reasoning-language-00008", "text": "Right hand: press: Right hand holds the mallet and presses the green peg downward into the wooden board."}, {"label": "subtasks", "start_step": 375, "end_step": 427, "id": "reasoning-language-00009", "text": "Right hand: lift_transport: Right hand lifts the wooden mallet upward away from the supporting surface and moves it rightward to the position above the middle hole of the wooden board."}, {"label": "subtasks", "start_step": 428, "end_step": 464, "id": "reasoning-language-00010", "text": "Right hand: hold: Right hand holds the wooden mallet steady above the middle hole of the wooden board without any observable movement."}, {"label": "subtasks", "start_step": 465, "end_step": 524, "id": "reasoning-language-00011", "text": "Right hand: grasp: Right hand adjusts its grip on the wooden mallet handle with slight finger and wrist movements to stabilize the mallet."}, {"label": "subtasks", "start_step": 525, "end_step": 547, "id": "reasoning-language-00012", "text": "Right hand: hold: Right hand holds the wooden mallet with a yellow head above the red peg on the toy board without moving."}, {"label": "subtasks", "start_step": 548, "end_step": 561, "id": "reasoning-language-00013", "text": "Right hand: transport_press: Right hand moves the wooden mallet downward and presses its yellow head against the red peg on the toy board."}, {"label": "subtasks", "start_step": 562, "end_step": 569, "id": "reasoning-language-00014", "text": "Right hand: transport: Right hand moves the wooden mallet upward away from the red peg on the toy board."}, {"label": "subtasks", "start_step": 570, "end_step": 599, "id": "reasoning-language-00015", "text": "Right hand: transport: Right hand transports the mallet rightward, moving it from above the wooden pegboard with green pegs to the right side of the black textured working surface, keeping the mallet vertical with its yellow head upward."}, {"label": "subtasks", "start_step": 600, "end_step": 629, "id": "reasoning-language-00016", "text": "Right hand: reorient: Right hand reorients the mallet by rotating it clockwise approximately 90 degrees at a roughly fixed position, changing the mallet from a vertical orientation to a tilted orientation with the 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{"label": "subtasks", "start_step": 645, "end_step": 659, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary without contacting any operated objects throughout the segment. | Right hand: retreat: Right hand moves empty upward and away from the placed mallet on the work surface."}, {"label": "subtasks", "start_step": 660, "end_step": 812, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary without contacting any operated objects throughout the segment."}, {"label": "home", "start_step": 665, "end_step": 812, "id": "GLvLwlN4hvO0m1Y7yXZBL"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 67, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty and stationary without contacting any operated objects throughout the segment. | Right hand: idle: Right hand remains empty at the upper right edge of the frame, with no obvious movement during this 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{"label": "subtasks", "start_step": 592, "end_step": 621, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and stationary without contacting any operated objects throughout the segment. | Right hand: transport: Right hand holds the lifted mallet and moves it upward and rightward through the air to the position right of the peg board."}, {"label": "subtasks", "start_step": 622, "end_step": 644, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and stationary without contacting any operated objects throughout the segment. | Right hand: place_release: Right hand grips the mallet, lowers the mallet to set its yellow head on the black work surface, and opens the fingers to release the wooden handle."}, {"label": "subtasks", "start_step": 645, "end_step": 659, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary without contacting any operated objects throughout the segment. | Right hand: retreat: Right hand moves empty upward and away from the placed mallet on the work surface."}, {"label": "subtasks", "start_step": 660, "end_step": 812, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary without contacting any operated objects throughout the segment."}], "episode_index": 248} +{"source_uid": "80538e5b193edb40", "num_frames": 767, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. 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"text": "Left hand: idle: Left hand remains empty at the far left edge of the visible frame with no observable movement or finger posture change. | Right hand: idle: Right hand remains empty with fingers slightly extended near the placed yellow mallet on the black textured work surface, with no observable movement."}, {"label": "subtasks", "start_step": 712, "end_step": 749, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the far left edge of the visible frame with no observable movement or finger posture change. | Right hand: retreat: Right hand, empty with fingers slightly extended, moves upward and backward away from the placed yellow mallet on the black textured work surface."}, {"label": "subtasks", "start_step": 750, "end_step": 850, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the far left edge of the visible frame with no observable movement or finger posture change."}], "episode_index": 252} 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"/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData/Hammer_Nails_v2/season_POC22048_2026_05_22_10_21_37_train/POC22048_2026_05_22_16_59_26_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/hammer_nails/season_POC22048_2026_05_22_10_21_37_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 178, "v40_language_source": "previous_published_lerobot", "episode_index": 259} +{"source_uid": "32bbf46b144b40b0", "num_frames": 566, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Hammer_Nails_v2", "tags": {"task_name": "Hammer_Nails_v2", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "B", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 74, "id": "reasoning-language-00001", "text": "Right hand: reach: Right hand enters from the right edge of the frame and moves leftward toward the objects on the 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"end_step": 591, "id": "reasoning-language-00009", "text": "Right hand: transport: Right hand transports the hammer to move its yellow head above the red peg on the wooden base."}, {"label": "subtasks", "start_step": 592, "end_step": 644, "id": "reasoning-language-00010", "text": "Right hand: hold: Right hand holds the hammer stationary with the yellow head positioned above the red peg."}, {"label": "subtasks", "start_step": 645, "end_step": 689, "id": "reasoning-language-00011", "text": "Right hand: transport: Right hand transports the yellow hammer rightward above the black mat."}, {"label": "subtasks", "start_step": 690, "end_step": 704, "id": "reasoning-language-00012", "text": "Right hand: place: Right hand places the yellow hammer onto the black mat."}, {"label": "subtasks", "start_step": 705, "end_step": 719, "id": "reasoning-language-00013", "text": "Right hand: release: Right hand releases the yellow hammer on the black mat."}, {"label": "subtasks", "start_step": 720, 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"reasoning-language-00011", "text": "Right hand: press: Right hand holds the wooden mallet, moves it vertically downward, and presses the yellow mallet head back onto the surface of the wooden toy base."}, {"label": "subtasks", "start_step": 645, "end_step": 674, "id": "reasoning-language-00012", "text": "Right hand: lift: Right hand grips the wooden handle of the yellow mallet and lifts it upward, completely separating the mallet from the wooden peg toy surface."}, {"label": "subtasks", "start_step": 675, "end_step": 719, "id": "reasoning-language-00013", "text": "Right hand: transport: Right hand carries the lifted yellow mallet and moves it horizontally rightward across the black textured mat."}, {"label": "subtasks", "start_step": 720, "end_step": 734, "id": "reasoning-language-00014", "text": "Right hand: place_release: Right hand lowers the yellow mallet onto the black mat until the mallet rests stably on the surface, fingers opening to release the mallet handle."}, {"label": "subtasks", "start_step": 735, "end_step": 794, "id": "reasoning-language-00015", "text": "Right hand: retreat: Right hand, now empty, moves upward and rightward away from the placed mallet until it exits the visible frame area."}], "episode_index": 287} +{"source_uid": "09f17e944e651670", "num_frames": 824, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table.", "tags": {"task_name": "Hammer Nails", "task_instruction": "Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table.", "scene_description": "A hammer and two nails are placed on the table. 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"/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData/Hammer_Nails_v2/season_POC22048_2026_05_22_10_21_37_train/POC22048_2026_05_22_17_27_42_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/hammer_nails/season_POC22048_2026_05_22_10_21_37_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 197, "v40_language_source": "previous_published_lerobot", "episode_index": 288} +{"source_uid": "4c7690d19b642a42", "num_frames": 866, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Hammer_Nails_v2", "tags": {"task_name": "Hammer_Nails_v2", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "B", "SOP": ""}, "segments": [{"label": "valid", "start_step": 0, "end_step": 717, "id": "WE_SwjiIg5AXaA7BKJk0o"}, {"label": "subtasks", "start_step": 75, "end_step": 141, "id": "reasoning-language-00001", "text": "Right hand: reach: Right hand moves downward from the upper right area toward the wooden handle of the yellow-headed mallet, with fingers slightly spread, making no contact with the mallet during this movement."}, {"label": "subtasks", "start_step": 142, "end_step": 224, "id": "reasoning-language-00002", "text": "Right hand: grasp: Right hand closes fingers around the wooden handle of the yellow-headed mallet, making small finger and wrist adjustments to form a stable grip while the mallet remains resting on the black fabric surface."}, {"label": "subtasks", "start_step": 225, "end_step": 261, "id": "reasoning-language-00003", "text": "Right hand: lift: Right hand lifts the grasped yellow-headed mallet upward, gradually raising the mallet until it is fully separated from the black fabric support surface."}, {"label": "subtasks", "start_step": 262, "end_step": 337, "id": "reasoning-language-00004", "text": "Right hand: transport: Right hand carries the fully lifted yellow-headed mallet leftward across the black 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{"label": "subtasks", "start_step": 458, "end_step": 501, "id": "reasoning-language-00008", "text": "Right hand: lift_transport: Right hand grips the mallet handle, lifts the yellow mallet head off the red peg, transports the mallet upward and slightly rightward to the position above the center hole of the pegboard."}, {"label": "subtasks", "start_step": 502, "end_step": 614, "id": "reasoning-language-00009", "text": "Right hand: transport: Right hand holds the mallet handle, moves the mallet vertically downward toward the center hole on the pegboard, keeping the yellow mallet head aligned with the hole."}, {"label": "subtasks", "start_step": 615, "end_step": 637, "id": "reasoning-language-00010", "text": "Right hand: lift: Right hand grips the wooden mallet handle and lifts the mallet upward, fully separating the yellow mallet head from the wooden platform and the yellow peg on it."}, {"label": "subtasks", "start_step": 638, "end_step": 674, "id": "reasoning-language-00011", "text": "Right hand: transport: Right hand holds the mallet and moves it rightward through the air to the area above the right section of the black work surface."}, {"label": "subtasks", "start_step": 675, "end_step": 697, "id": "reasoning-language-00012", "text": "Right hand: place_release: Right hand lowers the mallet until its yellow head and wooden handle rest on the black work surface, opening its fingers to release grip on the mallet handle."}, {"label": "subtasks", "start_step": 698, "end_step": 749, "id": "reasoning-language-00013", "text": "Right hand: retreat: Right hand moves empty upward and rightward away from the mallet resting on the work surface."}, {"label": "home", "start_step": 718, "end_step": 865, "id": "sg_okiyRvYHa0_di1BJkb"}], "language_segments": [{"label": "subtasks", "start_step": 75, "end_step": 141, "id": "reasoning-language-00001", "text": "Right hand: reach: Right hand moves downward from the upper right area toward the wooden handle of the yellow-headed mallet, with fingers slightly spread, making no contact with the mallet during this movement."}, {"label": "subtasks", "start_step": 142, "end_step": 224, "id": "reasoning-language-00002", "text": "Right hand: grasp: Right hand closes fingers around the wooden handle of the yellow-headed mallet, making small finger and wrist adjustments to form a stable grip while the mallet remains resting on the black fabric surface."}, {"label": "subtasks", "start_step": 225, "end_step": 261, "id": "reasoning-language-00003", "text": "Right hand: lift: Right hand lifts the grasped yellow-headed mallet upward, gradually raising the mallet until it is fully separated from the black fabric support surface."}, {"label": "subtasks", "start_step": 262, "end_step": 337, "id": "reasoning-language-00004", "text": "Right hand: transport: Right hand carries the fully lifted yellow-headed mallet leftward across the black surface, moving the mallet to a position directly above the red peg on the wooden peg toy without touching the peg."}, {"label": "subtasks", "start_step": 338, "end_step": 374, "id": "reasoning-language-00005", "text": "Right hand: press: Right hand moves the yellow-headed mallet vertically downward, pressing the mallet head against the top surface of the red peg to apply downward pressure."}, {"label": "subtasks", "start_step": 375, "end_step": 427, "id": "reasoning-language-00006", "text": "Right hand: grasp: Right hand adjusts its grip on the wooden mallet handle with slight finger movements, slightly rotates the wrist to align the yellow mallet head with the red peg on the pegboard."}, {"label": "subtasks", "start_step": 428, "end_step": 457, "id": "reasoning-language-00007", "text": "Right hand: press: Right hand moves vertically downward, pressing the yellow mallet head against the red peg to apply downward pressure, pushing the red peg to protrude from the pegboard surface."}, {"label": "subtasks", "start_step": 458, "end_step": 501, "id": "reasoning-language-00008", "text": "Right hand: lift_transport: Right hand grips the mallet handle, lifts the yellow mallet head off the red peg, transports the mallet upward and slightly rightward to the position above the center hole of the pegboard."}, {"label": "subtasks", "start_step": 502, "end_step": 614, "id": "reasoning-language-00009", "text": "Right hand: transport: Right hand holds the mallet handle, moves the mallet vertically downward toward the center hole on the pegboard, keeping the yellow mallet head aligned with the hole."}, {"label": "subtasks", "start_step": 615, "end_step": 637, "id": "reasoning-language-00010", "text": "Right hand: lift: Right hand grips the wooden mallet handle and lifts the mallet upward, fully separating the yellow mallet head from the wooden platform and the yellow peg on it."}, {"label": "subtasks", "start_step": 638, "end_step": 674, "id": "reasoning-language-00011", "text": "Right hand: transport: Right hand holds the mallet and moves it rightward through the air to the area above the right section of the black work surface."}, {"label": "subtasks", "start_step": 675, "end_step": 697, "id": "reasoning-language-00012", "text": "Right hand: place_release: Right hand lowers the mallet until its yellow head and wooden handle rest on the black work surface, opening its fingers to release grip on the mallet handle."}, {"label": "subtasks", "start_step": 698, "end_step": 749, "id": "reasoning-language-00013", "text": "Right hand: retreat: Right hand moves empty upward and rightward away from the mallet resting on the work surface."}], "episode_index": 289} +{"source_uid": "026c092f7b27bb04", "num_frames": 829, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table.", "tags": {"task_name": "Hammer Nails", "task_instruction": "Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table.", "scene_description": "A hammer and two nails are placed on the table. 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"/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData/Hammer_Nails_v2/season_POC22048_2026_05_22_10_21_37_train/POC22048_2026_05_22_19_12_49_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/hammer_nails/season_POC22048_2026_05_22_10_21_37_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 228, "v40_language_source": "previous_published_lerobot", "episode_index": 322} +{"source_uid": "a8ba01f9f5cb1f98", "num_frames": 899, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Hammer_Nails_v2", "tags": {"task_name": "Hammer_Nails_v2", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "B", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 97, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the far left edge of the frame or out of view, with no observable movement or object interaction. | Right hand: idle: Right hand remains empty just out of view or at the top-right edge of the frame, with no observable movement."}, {"label": "valid", "start_step": 0, "end_step": 749, "id": "sHXL782whu40qw0FEnq3r"}, {"label": "subtasks", "start_step": 98, "end_step": 141, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the far left edge of the frame or out of view, with no observable movement or object interaction. | Right hand: reach: Right hand moves down and left from the top-right edge toward the wooden handle of the yellow hammer, with fingers slightly open and no contact with any object."}, {"label": "subtasks", "start_step": 142, "end_step": 247, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the far left edge of the frame or out of view, with no observable movement or object interaction. | Right hand: grasp: Right hand makes contact with the wooden handle of the 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{"label": "subtasks", "start_step": 375, "end_step": 479, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the far left edge of the frame or out of view, with no observable movement or object interaction. | Right hand: grasp: Right hand makes slight finger and wrist adjustments to stabilize its grip on the hammer handle while positioning the hammer above the central wooden peg toy."}, {"label": "subtasks", "start_step": 480, "end_step": 531, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the far left edge of the frame or out of view, with no observable movement or object interaction. | Right hand: grasp: Right hand adjusts finger positions on the light wooden hammer handle to establish a stable grip on the hammer."}, {"label": "subtasks", "start_step": 532, "end_step": 599, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the far left edge of the frame or out of view, with no observable movement or object interaction. | Right hand: press: Right hand holds the hammer steadily and applies downward vertical pressure, pushing the yellow hammer head against the red peg on the perforated wooden platform until the peg is pressed down."}, {"label": "subtasks", "start_step": 600, "end_step": 621, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the far left edge of the frame or out of view, with no observable movement or object interaction. | Right hand: hold: Right hand holds the hammer stationary with the yellow hammer head resting on the pressed peg, with no visible movement of the hand or hammer."}, {"label": "subtasks", "start_step": 622, "end_step": 644, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the far left edge of the frame or out of view, with no observable movement or object interaction. | Right hand: lift: Right hand moves upward while gripping the hammer handle, lifting the yellow hammer head completely away from the surface of the perforated wooden platform."}, {"label": "subtasks", "start_step": 645, "end_step": 719, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the far left edge of the frame or out of view, with no observable movement or object interaction. | Right hand: lift_transport: Right hand grips the wooden hammer, lifts it off the wooden peg board and moves it rightward to the area above the black work surface."}, {"label": "subtasks", "start_step": 720, "end_step": 734, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the far left edge of the frame or out of view, with no observable movement or object interaction. | Right hand: place_release: Right hand lowers the wooden hammer onto the black work surface, releases its grip on the wooden handle and separates from the hammer."}, {"label": "subtasks", "start_step": 735, "end_step": 749, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the far left edge of the frame or out of view, with no observable movement or object interaction. | Right hand: retreat: Right hand moves empty in an upward-right direction away from the placed hammer."}, {"label": "subtasks", "start_step": 750, "end_step": 898, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the far left edge of the frame or out of view, with no observable movement or object interaction."}, {"label": "home", "start_step": 750, "end_step": 898, "id": "W3ljbed2viuF-J2tuOfFU"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 97, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the far left edge of the frame or out of view, with no observable movement or object interaction. | Right hand: idle: Right hand remains empty just out of view or at the top-right edge of the frame, with no observable movement."}, {"label": "subtasks", "start_step": 98, "end_step": 141, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the far left edge of the frame or out of view, with no observable movement or object interaction. | Right hand: reach: Right hand moves down and left from the top-right edge toward the wooden handle of the yellow hammer, with fingers slightly open and no contact with any object."}, {"label": "subtasks", "start_step": 142, "end_step": 247, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the far left edge of the frame or out of view, with no observable movement or object interaction. | Right hand: grasp: Right hand makes contact with the wooden handle of the yellow hammer, adjusts finger positions, and closes fingers around the handle to form a stable grip while the hammer stays on the work surface."}, {"label": "subtasks", "start_step": 248, "end_step": 284, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the far left edge of the frame or out of view, with no observable movement or object interaction. | Right hand: hold: Right hand holds the wooden handle of the yellow hammer steadily, with no observable movement of the hand, fingers, or hammer while the hammer rests on the black work surface."}, {"label": "subtasks", "start_step": 285, "end_step": 374, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the far left edge of the frame or out of view, with no observable movement or object interaction. | Right hand: transport: Right hand grips the wooden-handled yellow hammer and transports it leftward across the black mat toward the central wooden peg toy."}, {"label": "subtasks", "start_step": 375, "end_step": 479, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the far left edge of the frame or out of view, with no observable movement or object interaction. | Right hand: grasp: Right hand makes slight finger and wrist adjustments to stabilize its grip on the hammer handle while positioning the hammer above the central wooden peg toy."}, {"label": "subtasks", "start_step": 480, "end_step": 531, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the far left edge of the frame or out of view, with no observable movement or object interaction. | Right hand: grasp: Right hand adjusts finger positions on the light wooden hammer handle to establish a stable grip on the hammer."}, {"label": "subtasks", "start_step": 532, "end_step": 599, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the far left edge of the frame or out of view, with no observable movement or object interaction. | Right hand: press: Right hand holds the hammer steadily and applies downward vertical pressure, pushing the yellow hammer head against the red peg on the perforated wooden platform until the peg is pressed down."}, {"label": "subtasks", "start_step": 600, "end_step": 621, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the far left edge of the frame or out of view, with no observable movement or object interaction. | Right hand: hold: Right hand holds the hammer stationary with the yellow hammer head resting on the pressed peg, with no visible movement of the hand or hammer."}, {"label": "subtasks", "start_step": 622, "end_step": 644, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the far left edge of the frame or out of view, with no observable movement or object interaction. | Right hand: lift: Right hand moves upward while gripping the hammer handle, lifting the yellow hammer head completely away from the surface of the perforated wooden platform."}, {"label": "subtasks", "start_step": 645, "end_step": 719, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the far left edge of the frame or out of view, with no observable movement or object interaction. | Right hand: lift_transport: Right hand grips the wooden hammer, lifts it off the wooden peg board and moves it rightward to the area above the black work surface."}, {"label": "subtasks", "start_step": 720, "end_step": 734, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the far left edge of the frame or out of view, with no observable movement or object interaction. | Right hand: place_release: Right hand lowers the wooden hammer onto the black work surface, releases its grip on the wooden handle and separates from the hammer."}, {"label": "subtasks", "start_step": 735, "end_step": 749, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the far left edge of the frame or out of view, with no observable movement or object interaction. | Right hand: retreat: Right hand moves empty in an upward-right direction away from 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Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table.", "tags": {"task_name": "Hammer Nails", "task_instruction": "Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table.", "scene_description": "A hammer and two nails are placed on the table. 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Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table.", "tags": {"task_name": "Hammer Nails", "task_instruction": "Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table.", "scene_description": "A hammer and two nails are placed on the table. 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Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table.", "tags": {"task_name": "Hammer Nails", "task_instruction": "Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table.", "scene_description": "A hammer and two nails are placed on the table. 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"/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData/Hammer_Nails_v2/season_POC22048_2026_05_22_10_21_37_train/POC22048_2026_05_22_19_16_39_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/hammer_nails/season_POC22048_2026_05_22_10_21_37_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 232, "v40_language_source": "previous_published_lerobot", "episode_index": 326} +{"source_uid": "853c4d975f499314", "num_frames": 898, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Hammer_Nails_v2", "tags": {"task_name": "Hammer_Nails_v2", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "B", "SOP": ""}, "segments": [{"label": "valid", "start_step": 0, "end_step": 748, "id": "bk9lrUIFVF6kuG6IBzcEW"}, {"label": "subtasks", "start_step": 75, "end_step": 149, "id": "reasoning-language-00001", "text": "Right hand: reach: Right hand moves down and left from the top-right edge of the frame with an open hand, approaching the wooden handle of the yellow mallet placed on the black mat."}, {"label": "subtasks", "start_step": 150, "end_step": 269, "id": "reasoning-language-00002", "text": "Right hand: grasp: Right hand closes fingers around the wooden handle of the yellow mallet, adjusting finger and wrist positions slightly to form a stable grasp, with the mallet remaining resting on the black mat."}, {"label": "subtasks", "start_step": 270, "end_step": 284, "id": "reasoning-language-00003", "text": "Right hand: lift: Right hand lifts the stably grasped yellow mallet upward, raising the entire mallet completely off the black supporting mat."}, {"label": "subtasks", "start_step": 285, "end_step": 404, "id": "reasoning-language-00004", "text": "Right hand: transport: Right hand carries the grasped yellow mallet leftward through the air, rotating the mallet about a quarter turn to point the yellow hammerhead straight downward, moving the mallet to a position directly above the red peg on the central wooden platform."}, {"label": "subtasks", "start_step": 480, "end_step": 501, "id": "reasoning-language-00005", "text": "Right hand: lift: Right hand holds the wooden-handled hammer, lifts the hammer upward until the bottom end of the wooden handle completely leaves the black supporting surface."}, {"label": "subtasks", "start_step": 502, "end_step": 547, "id": "reasoning-language-00006", "text": "Right hand: transport: Right hand carries the lifted hammer to move slightly downward and leftward in the air, adjusting the hammer's position above the wooden block."}, {"label": "subtasks", "start_step": 548, "end_step": 577, "id": "reasoning-language-00007", "text": "Right hand: press: Right hand moves the held hammer vertically downward, applying steady downward pressure with the yellow hammer head against the peg on the wooden block."}, {"label": "subtasks", "start_step": 578, "end_step": 644, "id": "reasoning-language-00008", "text": "Right hand: hold: Right hand holds the wooden-handled hammer stationary, keeping the hammer in contact with the peg on the wooden block with no visible movement."}, {"label": "subtasks", "start_step": 645, "end_step": 674, "id": "reasoning-language-00009", "text": "Right hand: lift: Right hand grips the wooden hammer handle and lifts the hammer upward, fully separating it from the wooden peg board base by the end of the segment."}, {"label": "subtasks", "start_step": 675, "end_step": 704, "id": "reasoning-language-00010", "text": "Right hand: transport: Right hand carries the lifted wooden hammer and moves it horizontally rightward across the black work surface."}, {"label": "subtasks", "start_step": 705, "end_step": 719, "id": "reasoning-language-00011", "text": "Right hand: place: Right hand lowers the wooden hammer downward until the hammer rests steadily on the right area of the black work surface, still holding the handle."}, {"label": "subtasks", "start_step": 720, "end_step": 734, "id": "reasoning-language-00012", "text": "Right hand: release: Right hand opens its fingers to release the grip on the wooden hammer handle, separating from the hammer by the end of the segment."}, {"label": "subtasks", "start_step": 735, "end_step": 749, "id": "reasoning-language-00013", "text": "Right hand: retreat: Right hand moves empty in an upward-right direction away from the placed wooden hammer."}, {"label": "home", "start_step": 749, "end_step": 897, "id": "1lWRobCCGiTiiLMP2mjmN"}], "language_segments": [{"label": "subtasks", "start_step": 75, "end_step": 149, "id": "reasoning-language-00001", "text": "Right hand: reach: Right hand moves down and left from the top-right edge of the frame with an open hand, approaching the wooden handle of the yellow mallet placed on the black mat."}, {"label": "subtasks", "start_step": 150, "end_step": 269, "id": "reasoning-language-00002", "text": "Right hand: grasp: Right hand closes fingers around the wooden handle of the yellow mallet, adjusting finger and wrist positions slightly to form a stable grasp, with the mallet remaining resting on the black mat."}, {"label": "subtasks", "start_step": 270, "end_step": 284, "id": "reasoning-language-00003", "text": "Right hand: lift: Right hand lifts the stably grasped yellow mallet upward, raising the entire mallet completely off the black supporting mat."}, {"label": "subtasks", "start_step": 285, "end_step": 404, "id": "reasoning-language-00004", "text": "Right hand: transport: Right hand carries the grasped yellow mallet leftward through the air, rotating the mallet about a quarter turn to point the yellow hammerhead straight downward, moving the mallet to a position directly above the red peg on the central wooden platform."}, {"label": "subtasks", "start_step": 480, "end_step": 501, "id": "reasoning-language-00005", "text": "Right hand: lift: Right hand holds the wooden-handled hammer, lifts the hammer upward until the bottom end of the wooden handle completely leaves the black supporting surface."}, {"label": "subtasks", "start_step": 502, "end_step": 547, "id": "reasoning-language-00006", "text": "Right hand: transport: Right hand carries the lifted hammer to move slightly downward and leftward in the air, adjusting the hammer's position above the wooden block."}, {"label": "subtasks", "start_step": 548, "end_step": 577, "id": "reasoning-language-00007", "text": "Right hand: press: Right hand moves the held hammer vertically downward, applying steady downward pressure with the yellow hammer head against the peg on the wooden block."}, {"label": "subtasks", "start_step": 578, "end_step": 644, "id": "reasoning-language-00008", "text": "Right hand: hold: Right hand holds the wooden-handled hammer stationary, keeping the hammer in contact with the peg on the wooden block with no visible movement."}, {"label": "subtasks", "start_step": 645, "end_step": 674, "id": "reasoning-language-00009", "text": "Right hand: lift: Right hand grips the wooden hammer handle and lifts the hammer upward, fully separating it from the wooden peg board base by the end of the segment."}, {"label": "subtasks", "start_step": 675, "end_step": 704, "id": "reasoning-language-00010", "text": "Right hand: transport: Right hand carries the lifted wooden hammer and moves it horizontally rightward across the black work surface."}, {"label": "subtasks", "start_step": 705, "end_step": 719, "id": "reasoning-language-00011", "text": "Right hand: place: Right hand lowers the wooden hammer downward until the hammer rests steadily on the right area of the black work surface, still holding the handle."}, {"label": "subtasks", "start_step": 720, "end_step": 734, "id": "reasoning-language-00012", "text": "Right hand: release: Right hand opens its fingers to release the grip on the wooden hammer handle, separating from the hammer by the end of the segment."}, {"label": "subtasks", "start_step": 735, "end_step": 749, "id": "reasoning-language-00013", "text": "Right hand: retreat: Right hand moves empty in an upward-right direction away from the placed wooden hammer."}], "episode_index": 327} +{"source_uid": "b18945aba6d0697a", "num_frames": 900, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table.", "tags": {"task_name": "Hammer Nails", "task_instruction": "Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table.", "scene_description": "A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back.", "success_criteria": "Both nails are hammered down securely, and the hammer is placed back stably on the table.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 245, "id": "subtask-001", "text": "Pick up the hammer from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 246, "end_step": 450, "id": "subtask-002", "text": "Hammer down the first nail with the right hand. | Skill: press", "task_skill": "press", "atomic_action": []}, {"label": "subtasks", "start_step": 451, "end_step": 630, "id": "subtask-003", "text": "Hammer down the second nail with the right hand. | Skill: press", "task_skill": "press", "atomic_action": []}, {"label": "subtasks", "start_step": 631, "end_step": 740, "id": "subtask-004", "text": "Place the hammer back on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 245, "id": "subtask-001", "text": "Pick up the hammer from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 246, "end_step": 450, "id": "subtask-002", "text": "Hammer down the first nail with the right hand. | Skill: press", "task_skill": "press", "atomic_action": []}, {"label": "subtasks", "start_step": 451, "end_step": 630, "id": "subtask-003", "text": "Hammer down the second nail with the right hand. | Skill: press", "task_skill": "press", "atomic_action": []}, {"label": "subtasks", "start_step": 631, "end_step": 740, "id": "subtask-004", "text": "Place the hammer back on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData/Hammer_Nails_v2/season_POC22048_2026_05_22_10_21_37_train/POC22048_2026_05_22_19_19_57_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/hammer_nails/season_POC22048_2026_05_22_10_21_37_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 233, "v40_language_source": "previous_published_lerobot", "episode_index": 328} +{"source_uid": "291d0689c034ca8f", "num_frames": 927, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table.", "tags": {"task_name": "Hammer Nails", "task_instruction": "Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table.", "scene_description": "A hammer and two nails are placed on the table. 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Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table.", "tags": {"task_name": "Hammer Nails", "task_instruction": "Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table.", "scene_description": "A hammer and two nails are placed on the table. 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fingers are visible at the left frame edge in early frames before the hand moves out of active view. | Right hand: idle: Right hand remains empty and out of the main visible frame area with no observable movement before beginning to approach the mallet."}, {"label": "valid", "start_step": 0, "end_step": 914, "id": "PCyqWzWl-9uWMshugVb5H"}, {"label": "subtasks", "start_step": 60, "end_step": 127, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty throughout the segment, with no observable continuous movement; stationary fingers are visible at the left frame edge in early frames before the hand moves out of active view. | Right hand: reach: Right hand moves downward diagonally from the top-right frame edge toward the wooden handle of the yellow mallet, held with fingers slightly open while approaching the target."}, {"label": "subtasks", "start_step": 128, "end_step": 284, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty throughout the segment, with no observable continuous movement; stationary fingers are visible at the left frame edge in early frames before the hand moves out of active view. | Right hand: grasp: Right hand makes contact with the wooden handle of the yellow mallet, closes fingers around the handle, and performs small adjustments to finger and wrist position to establish a stable grip, with the mallet head remaining on the work surface."}, {"label": "subtasks", "start_step": 285, "end_step": 367, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty throughout the segment, with no observable continuous movement; stationary fingers are visible at the left frame edge in early frames before the hand moves out of active view. | Right hand: lift_transport: Right hand grips the wooden handle of the yellow mallet, lifts the mallet completely off the black supporting surface, and transports it leftward through the air toward the wooden peg platform."}, {"label": "subtasks", "start_step": 368, "end_step": 389, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty throughout the segment, with no observable continuous movement; stationary fingers are visible at the left frame edge in early frames before the hand moves out of active view. | Right hand: place: Right hand lowers the yellow mallet, setting the yellow mallet head on the top surface of the wooden peg platform and the distal end of the wooden handle on the black supporting surface."}, {"label": "subtasks", "start_step": 390, "end_step": 479, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty throughout the segment, with no observable continuous movement; stationary fingers are visible at the left frame edge in early frames before the hand moves out of active view. | Right hand: grasp: Right hand makes small adjustments to finger positions on the wooden handle and slight repositioning movements of the wrist to stabilize the grip on the yellow mallet."}, {"label": "subtasks", "start_step": 480, "end_step": 539, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty throughout the segment, with no observable continuous movement; stationary fingers are visible at the left frame edge in early frames before the hand moves out of active view. | Right hand: hold: Right hand holds the stably positioned yellow mallet without any observable movement of the hand, fingers, wrist or the mallet."}, {"label": "subtasks", "start_step": 540, "end_step": 637, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty throughout the segment, with no observable continuous movement; stationary fingers are visible at the left frame edge in early frames before the hand moves out of active view. | Right hand: press: Right hand adjusts finger positions on the wooden mallet handle, moves the mallet to apply downward pressure on the yellow peg on the wooden pegboard."}, {"label": "subtasks", "start_step": 638, "end_step": 824, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty throughout the segment, with no observable continuous movement; stationary fingers are visible at the left frame edge in early frames before the hand moves out of active view. | Right hand: hold: Right hand holds the wooden mallet in position against the yellow peg on the wooden pegboard without observable movement."}, {"label": "subtasks", "start_step": 825, "end_step": 839, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty throughout the segment, with no observable continuous movement; stationary fingers are visible at the left frame edge in early frames before the hand moves out of active view. | Right hand: lift: Right hand holds the wooden mallet with a yellow cylindrical head, lifting it upward to fully separate it from the light brown wooden peg toy below."}, {"label": "subtasks", "start_step": 840, "end_step": 884, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty throughout the segment, with no observable continuous movement; stationary fingers are visible at the left frame edge in early frames before the hand moves out of active view. | Right hand: transport: Right hand carries the grasped mallet rightward through the air, rotating it roughly 90 degrees clockwise to a horizontal orientation as it approaches the black mat surface to the right of the peg toy."}, {"label": "subtasks", "start_step": 885, "end_step": 899, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty throughout the segment, with no observable continuous movement; stationary fingers are visible at the left frame edge in early frames before the hand moves out of active view. | Right hand: place: Right hand lowers the horizontal mallet down to the black mat, resting the yellow mallet head stably on the mat surface while maintaining grip on the wooden handle."}, {"label": "subtasks", "start_step": 900, "end_step": 914, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty throughout the segment, with no observable continuous movement; stationary fingers are visible at the left frame edge in early frames before the hand moves out of active view. | Right hand: release: Right hand opens its metal fingers to release the mallet handle, separating from the mallet which remains resting on the black mat."}, {"label": "subtasks", "start_step": 915, "end_step": 1063, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty throughout the segment, with no observable continuous movement; stationary fingers are visible at the left frame edge in early frames before the hand moves out of active view."}, {"label": "home", "start_step": 915, "end_step": 1063, "id": "JsvbE-yLG3PzsuPajhbu5"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 59, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty throughout the segment, with no observable continuous movement; stationary fingers are visible at the left frame edge in early frames before the hand moves out of active view. | Right hand: idle: Right hand remains empty and out of the main visible frame area with no observable movement before beginning to approach the mallet."}, {"label": "subtasks", "start_step": 60, "end_step": 127, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty throughout the segment, with no observable continuous movement; stationary fingers are visible at the left frame edge in early frames before the hand moves out of active view. | Right hand: reach: Right hand moves downward diagonally from the top-right frame edge toward the wooden handle of the yellow mallet, held with fingers slightly open while approaching the target."}, {"label": "subtasks", "start_step": 128, "end_step": 284, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty throughout the segment, with no observable continuous movement; stationary fingers are visible at the left frame edge in early frames before the hand moves out of active view. | Right hand: grasp: Right hand makes contact with the wooden handle of the yellow mallet, closes fingers around the handle, and performs small adjustments to finger and wrist position to establish a stable grip, with the mallet head remaining on the work surface."}, {"label": "subtasks", "start_step": 285, "end_step": 367, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty throughout the segment, with no observable continuous movement; stationary fingers are visible at the left frame edge in early frames before the hand moves out of active view. | Right hand: lift_transport: Right hand grips the wooden handle of the yellow mallet, lifts the mallet completely off the black supporting surface, and transports it leftward through the air toward the wooden peg platform."}, {"label": "subtasks", "start_step": 368, "end_step": 389, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty throughout the segment, with no observable continuous movement; stationary fingers are visible at the left frame edge in early frames before the hand moves out of active view. | Right hand: place: Right hand lowers the yellow mallet, setting the yellow mallet head on the top surface of the wooden peg platform and the distal end of the wooden handle on the black supporting surface."}, {"label": "subtasks", "start_step": 390, "end_step": 479, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty throughout the segment, with no observable continuous movement; stationary fingers are visible at the left frame edge in early frames before the hand moves out of active view. | Right hand: grasp: Right hand makes small adjustments to finger positions on the wooden handle and slight repositioning movements of the wrist to stabilize the grip on the yellow mallet."}, {"label": "subtasks", "start_step": 480, "end_step": 539, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty throughout the segment, with no observable continuous movement; stationary fingers are visible at the left frame edge in early frames before the hand moves out of active view. | Right hand: hold: Right hand holds the stably positioned yellow mallet without any observable movement of the hand, fingers, wrist or the mallet."}, {"label": "subtasks", "start_step": 540, "end_step": 637, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty throughout the segment, with no observable continuous movement; stationary fingers are visible at the left frame edge in early frames before the hand moves out of active view. | Right hand: press: Right hand adjusts finger positions on the wooden mallet handle, moves the mallet to apply downward pressure on the yellow peg on the wooden pegboard."}, {"label": "subtasks", "start_step": 638, "end_step": 824, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty throughout the segment, with no observable continuous movement; stationary fingers are visible at the left frame edge in early frames before the hand moves out of active view. | Right hand: hold: Right hand holds the wooden mallet in position against the yellow peg on the wooden pegboard without observable movement."}, {"label": "subtasks", "start_step": 825, "end_step": 839, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty throughout the segment, with no observable continuous movement; stationary fingers are visible at the left frame edge in early frames before the hand moves out of active view. | Right hand: lift: Right hand holds the wooden mallet with a yellow cylindrical head, lifting it upward to fully separate it from the light brown wooden peg toy below."}, {"label": "subtasks", "start_step": 840, "end_step": 884, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty throughout the segment, with no observable continuous movement; stationary fingers are visible at the left frame edge in early frames before the hand moves out of active view. | Right hand: transport: Right hand carries the grasped mallet rightward through the air, rotating it roughly 90 degrees clockwise to a horizontal orientation as it approaches the black mat surface to the right of the peg toy."}, {"label": "subtasks", "start_step": 885, "end_step": 899, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty throughout the segment, with no observable continuous movement; stationary fingers are visible at the left frame edge in early frames before the hand moves out of active view. | Right hand: place: Right hand lowers the horizontal mallet down to the black mat, resting the yellow mallet head stably on the mat surface while maintaining grip on the wooden handle."}, {"label": "subtasks", "start_step": 900, "end_step": 914, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty throughout the segment, with no observable continuous movement; stationary fingers are visible at the left frame edge in early frames before the hand moves out of active view. | Right hand: release: Right hand opens its metal fingers to release the mallet handle, separating from the mallet which remains resting on the black mat."}, {"label": "subtasks", "start_step": 915, "end_step": 1063, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty throughout the segment, with no observable continuous movement; stationary fingers are visible at the left frame edge in early frames before the hand moves out of active view."}], "episode_index": 332} +{"source_uid": "8b88d7992b72f4be", "num_frames": 929, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Hammer_Nails_v2", "tags": {"task_name": "Hammer_Nails_v2", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "B", "SOP": ""}, "segments": [{"label": "valid", "start_step": 0, "end_step": 779, "id": "mya0JoqQM9gPf5wWyH5Un"}, {"label": "subtasks", "start_step": 15, "end_step": 149, "id": "reasoning-language-00001", "text": "Right hand: reach: Right hand moves empty from the top right of the frame down left toward the yellow hammer on the black mat."}, {"label": "subtasks", "start_step": 150, "end_step": 224, "id": "reasoning-language-00002", "text": "Right hand: grasp: Right hand closes its fingers around the wooden handle of the yellow hammer to establish a stable grasp, with the hammer remaining on the black mat."}, {"label": "subtasks", "start_step": 225, "end_step": 254, "id": "reasoning-language-00003", "text": "Right hand: grasp: Right hand adjusts its fingers to form a stable grasp on the wooden handle of the yellow hammer placed on the black mat."}, {"label": "subtasks", "start_step": 255, "end_step": 277, "id": "reasoning-language-00004", "text": "Right hand: lift: Right hand lifts the yellow hammer upward until it completely leaves the black supporting mat."}, {"label": "subtasks", "start_step": 278, "end_step": 359, "id": "reasoning-language-00005", "text": "Right hand: transport: Right hand transports the yellow hammer leftward to the position above the green peg on the wooden toy."}, {"label": "subtasks", "start_step": 360, "end_step": 404, "id": "reasoning-language-00006", "text": "Right hand: hold: Right hand holds the yellow hammer stationary above the green peg on the wooden toy without any movement."}, {"label": "subtasks", "start_step": 405, "end_step": 441, "id": "reasoning-language-00007", "text": "Right hand: press: Right hand presses the yellow hammer downward to hit the red peg on the wooden toy."}, {"label": "subtasks", "start_step": 442, "end_step": 471, "id": "reasoning-language-00008", "text": "Right hand: transport: Right hand transports the yellow hammer upward to lift it away from the wooden toy surface."}, {"label": "subtasks", "start_step": 472, "end_step": 539, "id": "reasoning-language-00009", "text": "Right hand: press: Right hand presses the yellow hammer downward to hit the green peg on the wooden toy."}, {"label": "subtasks", "start_step": 540, "end_step": 577, "id": "reasoning-language-00010", "text": "Right hand: grasp: Right hand adjusts its grasp on the wooden hammer with yellow head."}, {"label": "subtasks", "start_step": 578, "end_step": 667, "id": "reasoning-language-00011", "text": "Right hand: transport: Right hand transports the wooden hammer with yellow head to the position above the red peg on the wooden toy."}, {"label": "subtasks", "start_step": 668, "end_step": 689, "id": "reasoning-language-00012", "text": "Right hand: press: Right hand presses the wooden hammer down to hit the red peg on the wooden toy."}, {"label": "subtasks", "start_step": 690, "end_step": 741, "id": "reasoning-language-00013", "text": "Right hand: transport: Right hand transports the wooden hammer with yellow head towards the right side of the wooden board."}, {"label": "subtasks", "start_step": 742, "end_step": 764, "id": "reasoning-language-00014", "text": "Right hand: place: Right hand places the hammer onto the black mat at the right side of the wooden board."}, {"label": "subtasks", "start_step": 765, "end_step": 779, "id": "reasoning-language-00015", "text": "Right hand: release: Right hand opens fingers to release the hammer handle and separates from the hammer."}, {"label": "subtasks", "start_step": 780, "end_step": 809, "id": "reasoning-language-00016", "text": "Right hand: retreat: Right hand moves toward the top right direction and exits the visible frame."}, {"label": "home", "start_step": 780, "end_step": 928, "id": "MXsOejT5COBJKjVp-tSAF"}], "language_segments": [{"label": "subtasks", "start_step": 15, "end_step": 149, "id": "reasoning-language-00001", "text": "Right hand: reach: Right hand moves empty from the top right of the frame down left toward the yellow hammer on the black mat."}, {"label": "subtasks", "start_step": 150, "end_step": 224, "id": "reasoning-language-00002", "text": "Right hand: grasp: Right hand closes its fingers around the wooden handle of the yellow hammer to establish a stable grasp, with the hammer remaining on the black mat."}, {"label": "subtasks", "start_step": 225, "end_step": 254, "id": "reasoning-language-00003", "text": "Right hand: grasp: Right hand adjusts its fingers to form a stable grasp on the wooden handle of the yellow hammer placed on the black mat."}, {"label": "subtasks", "start_step": 255, "end_step": 277, "id": "reasoning-language-00004", "text": "Right hand: lift: Right hand lifts the yellow hammer upward until it completely leaves the black supporting mat."}, {"label": "subtasks", "start_step": 278, "end_step": 359, "id": "reasoning-language-00005", "text": "Right hand: transport: Right hand transports the yellow hammer leftward to the position above the green peg on the wooden toy."}, {"label": "subtasks", "start_step": 360, "end_step": 404, "id": "reasoning-language-00006", "text": "Right hand: hold: Right hand holds the yellow hammer stationary above the green peg on the wooden toy without any movement."}, {"label": "subtasks", "start_step": 405, "end_step": 441, "id": "reasoning-language-00007", "text": "Right hand: press: Right hand presses the yellow hammer downward to hit the red peg on the wooden toy."}, {"label": "subtasks", "start_step": 442, "end_step": 471, "id": "reasoning-language-00008", "text": "Right hand: transport: Right hand transports the yellow hammer upward to lift it away from the wooden toy surface."}, {"label": "subtasks", "start_step": 472, "end_step": 539, "id": "reasoning-language-00009", "text": "Right hand: press: Right hand presses the yellow hammer downward to hit the green peg on the wooden toy."}, {"label": "subtasks", "start_step": 540, "end_step": 577, "id": "reasoning-language-00010", "text": "Right hand: grasp: Right hand adjusts its grasp on the wooden hammer with yellow head."}, {"label": "subtasks", "start_step": 578, "end_step": 667, "id": "reasoning-language-00011", "text": "Right hand: transport: Right hand transports the wooden hammer with yellow head to the position above the red peg on the wooden toy."}, {"label": "subtasks", "start_step": 668, "end_step": 689, "id": "reasoning-language-00012", "text": "Right hand: press: Right hand presses the wooden hammer down to hit the red peg on the wooden toy."}, {"label": "subtasks", "start_step": 690, "end_step": 741, "id": "reasoning-language-00013", "text": "Right hand: transport: Right hand transports the wooden hammer with yellow head towards the right side of the wooden board."}, {"label": "subtasks", "start_step": 742, "end_step": 764, "id": "reasoning-language-00014", "text": "Right hand: place: Right hand places the hammer onto the black mat at the right side of the wooden board."}, {"label": "subtasks", "start_step": 765, "end_step": 779, "id": "reasoning-language-00015", "text": "Right hand: release: Right hand opens fingers to release the hammer handle and separates from the hammer."}, {"label": "subtasks", "start_step": 780, "end_step": 809, "id": "reasoning-language-00016", "text": "Right hand: retreat: Right hand moves toward the top right direction and exits the visible frame."}], "episode_index": 333} +{"source_uid": "d78890cf94936213", "num_frames": 939, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Hammer_Nails_v2", "tags": {"task_name": "Hammer_Nails_v2", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "B", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 67, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without moving. | Right hand: idle: Right hand remains empty at the upper right edge of the frame without moving."}, {"label": "valid", "start_step": 0, "end_step": 790, "id": "o6r3Ps2AxYnQKXY2oOgcc"}, {"label": "subtasks", "start_step": 68, "end_step": 127, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without moving. | Right hand: reach: Right hand moves downward toward the wooden handle of the yellow-headed mallet on the right side of the black work surface, with fingers held slightly open."}, {"label": "subtasks", "start_step": 128, "end_step": 247, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without moving. | Right hand: grasp: Right hand closes fingers around the wooden handle of the mallet, making small contact adjustments to form a stable grip while the mallet remains supported by the work surface."}, {"label": "subtasks", "start_step": 248, "end_step": 269, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without moving. | Right hand: lift: Right hand holds the mallet handle and begins lifting the mallet upward from the work surface."}, {"label": "subtasks", "start_step": 270, "end_step": 307, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without moving. | Right hand: grasp: Right hand adjusts finger positions around the wooden handle of the yellow-headed mallet on the black mat, closing fingers to form a stable grip."}, {"label": "subtasks", "start_step": 308, "end_step": 321, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without moving. | Right hand: lift: Right hand lifts the stably grasped yellow-headed mallet upward, raising the wooden handle completely off the black supporting mat."}, {"label": "subtasks", "start_step": 322, "end_step": 367, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without moving. | Right hand: transport: Right hand transports the lifted yellow-headed mallet leftward through the air toward the central wooden pegboard with green posts."}, {"label": "subtasks", "start_step": 368, "end_step": 381, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without moving. | Right hand: place: Right hand lowers the yellow-headed mallet downward until the mallet is supported by the wooden pegboard."}, {"label": "subtasks", "start_step": 382, "end_step": 427, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without moving. | Right hand: hold: Right hand holds the yellow-headed mallet steady in position on the wooden pegboard without any visible movement of the hand or mallet."}, {"label": "subtasks", "start_step": 428, "end_step": 494, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without moving. | Right hand: grasp: Right hand adjusts finger contact positions on the wooden hammer handle and slightly rotates the wrist to reposition the hammer, making small grip adjustments to stabilize hold of the tool."}, {"label": "subtasks", "start_step": 495, "end_step": 674, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without moving."}, {"label": "subtasks", "start_step": 675, "end_step": 697, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without moving. | Right hand: lift: Right hand holds the wooden mallet and lifts it upward, completely detaching the mallet from the wooden pegboard support."}, {"label": "subtasks", "start_step": 698, "end_step": 734, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without moving. | Right hand: transport: Right hand carries the detached wooden mallet, moving it horizontally to the right toward the black work surface beside the pegboard."}, {"label": "subtasks", "start_step": 735, "end_step": 787, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without moving. | Right hand: place_release: Right hand lowers the wooden mallet onto the right black work surface until the mallet rests stably, opens fingers to release grip on the mallet, and separates the hand from the mallet."}, {"label": "subtasks", "start_step": 788, "end_step": 824, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without moving. | Right hand: retreat: Right hand moves upward and to the right, retreating empty away from the wooden mallet placed on the work surface."}, {"label": "home", "start_step": 791, "end_step": 938, "id": "oMT-TcIufubqzMWJDPhMc"}, {"label": "subtasks", "start_step": 825, "end_step": 938, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without moving."}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 67, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without moving. | Right hand: idle: Right hand remains empty at the upper right edge of the frame without moving."}, {"label": "subtasks", "start_step": 68, "end_step": 127, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without moving. | Right hand: reach: Right hand moves downward toward the wooden handle of the yellow-headed mallet on the right side of the black work surface, with fingers held slightly open."}, {"label": "subtasks", "start_step": 128, "end_step": 247, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without moving. | Right hand: grasp: Right hand closes fingers around the wooden handle of the mallet, making small contact adjustments to form a stable grip while the mallet remains supported by the work surface."}, {"label": "subtasks", "start_step": 248, "end_step": 269, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without moving. | Right hand: lift: Right hand holds the mallet handle and begins lifting the mallet upward from the work surface."}, {"label": "subtasks", "start_step": 270, "end_step": 307, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without moving. | Right hand: grasp: Right hand adjusts finger positions around the wooden handle of the yellow-headed mallet on the black mat, closing fingers to form a stable grip."}, {"label": "subtasks", "start_step": 308, "end_step": 321, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without moving. | Right hand: lift: Right hand lifts the stably grasped yellow-headed mallet upward, raising the wooden handle completely off the black supporting mat."}, {"label": "subtasks", "start_step": 322, "end_step": 367, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without moving. | Right hand: transport: Right hand transports the lifted yellow-headed mallet leftward through the air toward the central wooden pegboard with green posts."}, {"label": "subtasks", "start_step": 368, "end_step": 381, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without moving. | Right hand: place: Right hand lowers the yellow-headed mallet downward until the mallet is supported by the wooden pegboard."}, {"label": "subtasks", "start_step": 382, "end_step": 427, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without moving. | Right hand: hold: Right hand holds the yellow-headed mallet steady in position on the wooden pegboard without any visible movement of the hand or mallet."}, {"label": "subtasks", "start_step": 428, "end_step": 494, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without moving. | Right hand: grasp: Right hand adjusts finger contact positions on the wooden hammer handle and slightly rotates the wrist to reposition the hammer, making small grip adjustments to stabilize hold of the tool."}, {"label": "subtasks", "start_step": 495, "end_step": 674, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without moving."}, {"label": "subtasks", "start_step": 675, "end_step": 697, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without moving. | Right hand: lift: Right hand holds the wooden mallet and lifts it upward, completely detaching the mallet from the wooden pegboard support."}, {"label": "subtasks", "start_step": 698, "end_step": 734, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without moving. | Right hand: transport: Right hand carries the detached wooden mallet, moving it horizontally to the right toward the black work surface beside the pegboard."}, {"label": "subtasks", "start_step": 735, "end_step": 787, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without moving. | Right hand: place_release: Right hand lowers the wooden mallet onto the right black work surface until the mallet rests stably, opens fingers to release grip on the mallet, and separates the hand from the mallet."}, {"label": "subtasks", "start_step": 788, "end_step": 824, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without moving. | Right hand: retreat: Right hand moves upward and to the right, retreating empty away from the wooden mallet placed on the work surface."}, {"label": "subtasks", "start_step": 825, "end_step": 938, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without moving."}], "episode_index": 334} +{"source_uid": "740c9353248f29ec", "num_frames": 893, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table.", "tags": {"task_name": "Hammer Nails", "task_instruction": "Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table.", "scene_description": "A hammer and two nails are placed on the table. 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"text": "Right hand: transport: Right hand carries the yellow mallet and moves it upward and leftward to the position above the wooden pegboard."}, {"label": "subtasks", "start_step": 435, "end_step": 509, "id": "reasoning-language-00006", "text": "Right hand: grasp: Right hand adjusts its grasp on the wooden mallet with a yellow head, aligning the mallet head with the green peg on the perforated wooden board."}, {"label": "subtasks", "start_step": 510, "end_step": 577, "id": "reasoning-language-00007", "text": "Right hand: lift: Right hand lifts the yellow-headed mallet upward, moving the mallet head away from the green peg on the wooden board."}, {"label": "subtasks", "start_step": 578, "end_step": 644, "id": "reasoning-language-00008", "text": "Right hand: press: Right hand presses the yellow-headed mallet downward against the green peg, striking the peg into the hole of the wooden board."}, {"label": "subtasks", "start_step": 645, "end_step": 711, "id": "reasoning-language-00009", 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enters the frame from the top-right corner, moves downward toward the wooden handle of the yellow mallet on the black work surface, with fingers slightly extended while remaining empty."}, {"label": "subtasks", "start_step": 202, "end_step": 284, "id": "reasoning-language-00002", "text": "Right hand: grasp: Right hand makes contact with the wooden handle of the yellow mallet, gradually closes fingers around the handle and adjusts contact position to form a grip, while the mallet remains resting on the black work surface."}, {"label": "subtasks", "start_step": 285, "end_step": 314, "id": "reasoning-language-00003", "text": "Right hand: grasp: Right hand adjusts fingers around the wooden mallet handle on the black work surface to form a stable grasp."}, {"label": "subtasks", "start_step": 315, "end_step": 329, "id": "reasoning-language-00004", "text": "Right hand: lift: Right hand lifts the grasped wooden mallet upward, fully separating the mallet from the black supporting surface."}, {"label": "subtasks", "start_step": 330, "end_step": 419, "id": "reasoning-language-00005", "text": "Right hand: transport: Right hand moves the grasped wooden mallet leftward toward the wooden peg board, positioning the yellow mallet head over the red peg."}, {"label": "subtasks", "start_step": 420, "end_step": 449, "id": "reasoning-language-00006", "text": "Right hand: hold: Right hand holds the wooden mallet steady over the wooden peg board without visible movement or hand shape adjustment."}, {"label": "subtasks", "start_step": 450, "end_step": 524, "id": "reasoning-language-00007", "text": "Right hand: grasp: Right hand adjusts its fingers around the wooden mallet handle with slight finger movements to stabilize the grip."}, {"label": "subtasks", "start_step": 525, "end_step": 554, "id": "reasoning-language-00008", "text": "Right hand: hold: Right hand holds the wooden mallet steadily, with the mallet head resting on the wooden peg of the wooden toy base without movement."}, {"label": "subtasks", "start_step": 555, "end_step": 591, "id": "reasoning-language-00009", "text": "Right hand: lift_transport: Right hand lifts the wooden mallet off the wooden peg and transports it upward to the position directly above the peg."}, {"label": "subtasks", "start_step": 592, "end_step": 644, "id": "reasoning-language-00010", "text": "Right hand: reorient: Right hand slightly rotates the wrist to adjust the orientation of the wooden mallet, aligning the mallet head vertically over the wooden peg."}, {"label": "subtasks", "start_step": 645, "end_step": 697, "id": "reasoning-language-00011", "text": "Right hand: transport_press: Right hand moves the aligned wooden mallet vertically downward and presses the mallet head onto the wooden peg to apply downward striking force."}, {"label": "subtasks", "start_step": 698, "end_step": 719, "id": "reasoning-language-00012", "text": "Right hand: lift: Right hand lifts the wooden mallet upward again, moving the mallet head away from the wooden peg after the strike."}, {"label": "subtasks", "start_step": 720, "end_step": 764, "id": "reasoning-language-00013", "text": "Right hand: lift_transport: Right hand holds the wooden mallet, lifts it clear of the black work surface and the wooden peg toy, moving it to the right upper area of the work surface."}, {"label": "subtasks", "start_step": 765, "end_step": 787, "id": "reasoning-language-00014", "text": "Right hand: place_release: Right hand lowers the wooden mallet toward the black work surface, opening fingers to release the mallet so it rests flat on the surface."}, {"label": "subtasks", "start_step": 788, "end_step": 809, "id": "reasoning-language-00015", "text": "Right hand: retreat: Right hand moves upward away from the resting mallet, remaining empty with fingers slightly spread."}, {"label": "subtasks", "start_step": 810, "end_step": 854, "id": "reasoning-language-00016", "text": "Right hand: retreat: Right hand is empty and moves upward to retreat out of the frame through the top-right edge."}, {"label": "home", "start_step": 818, "end_step": 966, "id": "abQvn3MbTUQDnd6QgZIl7"}, {"label": "subtasks", "start_step": 960, "end_step": 966, "id": "reasoning-language-00017", "text": "Right hand: reach_grasp: Right hand moves from the right edge of the frame toward the yellow hammer, makes contact with the yellow hammer head, and closes fingers to grasp the hammer."}], "language_segments": [{"label": "subtasks", "start_step": 60, "end_step": 201, "id": "reasoning-language-00001", "text": "Right hand: reach: Right hand enters the frame from the top-right corner, moves downward toward the wooden handle of the yellow mallet on the black work surface, with fingers slightly extended while remaining empty."}, {"label": "subtasks", "start_step": 202, "end_step": 284, "id": "reasoning-language-00002", "text": "Right hand: grasp: Right hand makes contact with the wooden handle of the yellow mallet, gradually closes fingers around the handle and adjusts contact position to form a grip, while the mallet remains resting on the black work surface."}, {"label": "subtasks", "start_step": 285, "end_step": 314, "id": "reasoning-language-00003", "text": "Right hand: grasp: Right hand adjusts fingers around the wooden mallet handle on the black work surface to form a stable grasp."}, {"label": "subtasks", "start_step": 315, "end_step": 329, "id": "reasoning-language-00004", "text": "Right hand: lift: Right hand lifts the grasped wooden mallet upward, fully separating the mallet from the black supporting surface."}, {"label": "subtasks", "start_step": 330, "end_step": 419, "id": "reasoning-language-00005", "text": "Right hand: transport: Right hand moves the grasped wooden mallet leftward toward the wooden peg board, positioning the yellow mallet head over the red peg."}, {"label": "subtasks", "start_step": 420, "end_step": 449, "id": "reasoning-language-00006", "text": "Right hand: hold: Right hand holds the wooden mallet steady over the wooden peg board without visible movement or hand shape adjustment."}, {"label": "subtasks", "start_step": 450, "end_step": 524, "id": "reasoning-language-00007", "text": "Right hand: grasp: Right hand adjusts its fingers around the wooden mallet handle with slight finger movements to stabilize the grip."}, {"label": "subtasks", "start_step": 525, "end_step": 554, "id": "reasoning-language-00008", "text": "Right hand: hold: Right hand holds the wooden mallet steadily, with the mallet head resting on the wooden peg of the wooden toy base without movement."}, {"label": "subtasks", "start_step": 555, "end_step": 591, "id": "reasoning-language-00009", "text": "Right hand: lift_transport: Right hand lifts the wooden mallet off the wooden peg and transports it upward to the position directly above the peg."}, {"label": "subtasks", "start_step": 592, "end_step": 644, "id": "reasoning-language-00010", "text": "Right hand: reorient: Right hand slightly rotates the wrist to adjust the orientation of the wooden mallet, aligning the mallet head vertically over the wooden peg."}, {"label": "subtasks", "start_step": 645, "end_step": 697, "id": "reasoning-language-00011", "text": "Right hand: transport_press: Right hand moves the aligned wooden mallet vertically downward and presses the mallet head onto the wooden peg to apply downward striking force."}, {"label": "subtasks", "start_step": 698, "end_step": 719, "id": "reasoning-language-00012", "text": "Right hand: lift: Right hand lifts the wooden mallet upward again, moving the mallet head away from the wooden peg after the strike."}, {"label": "subtasks", "start_step": 720, "end_step": 764, "id": "reasoning-language-00013", "text": "Right hand: lift_transport: Right hand holds the wooden mallet, lifts it clear of the black work surface and the wooden peg toy, moving it to the right upper area of the work surface."}, {"label": "subtasks", "start_step": 765, "end_step": 787, "id": "reasoning-language-00014", "text": "Right hand: place_release: Right hand lowers the wooden mallet toward the black work surface, opening fingers to release the mallet so it rests flat on the surface."}, {"label": "subtasks", "start_step": 788, "end_step": 809, "id": "reasoning-language-00015", "text": "Right hand: retreat: Right hand moves upward away from the resting mallet, remaining empty with fingers slightly spread."}, {"label": "subtasks", "start_step": 810, "end_step": 854, "id": "reasoning-language-00016", "text": "Right hand: retreat: Right hand is empty and moves upward to retreat out of the frame through the top-right edge."}, {"label": "subtasks", "start_step": 960, "end_step": 966, "id": "reasoning-language-00017", "text": "Right hand: reach_grasp: Right hand moves from the right edge of the frame toward the yellow hammer, makes contact with the yellow hammer head, and closes fingers to grasp the hammer."}], "episode_index": 339} +{"source_uid": "fc7fc3266e7f62d6", "num_frames": 836, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table.", "tags": {"task_name": "Hammer Nails", "task_instruction": "Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table.", "scene_description": "A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back.", "success_criteria": "Both nails are hammered down securely, and the hammer is placed back stably on the table.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 267, "id": "subtask-001", "text": "Pick up the hammer from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 268, "end_step": 450, "id": "subtask-002", "text": "Hammer down the first nail with the right hand. | Skill: press", "task_skill": "press", "atomic_action": []}, {"label": "subtasks", "start_step": 451, "end_step": 582, "id": "subtask-003", "text": "Hammer down the second nail with the right hand. | Skill: press", "task_skill": "press", "atomic_action": []}, {"label": "subtasks", "start_step": 583, "end_step": 672, "id": "subtask-004", "text": "Place the hammer back on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 267, "id": "subtask-001", "text": "Pick up the hammer from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 268, "end_step": 450, "id": "subtask-002", "text": "Hammer down the first nail with the right hand. | Skill: press", "task_skill": "press", "atomic_action": []}, {"label": "subtasks", "start_step": 451, "end_step": 582, "id": "subtask-003", "text": "Hammer down the second nail with the right hand. | Skill: press", "task_skill": "press", "atomic_action": []}, {"label": "subtasks", "start_step": 583, "end_step": 672, "id": "subtask-004", "text": "Place the hammer back on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData/Hammer_Nails_v2/season_POC22048_2026_05_22_10_21_37_train/POC22048_2026_05_22_19_41_38_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/hammer_nails/season_POC22048_2026_05_22_10_21_37_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 240, "v40_language_source": "previous_published_lerobot", "episode_index": 340} +{"source_uid": "b15a55737513c7f7", "num_frames": 913, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table.", "tags": {"task_name": "Hammer Nails", "task_instruction": "Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table.", "scene_description": "A hammer and two nails are placed on the table. 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the segment. | Right hand: idle: Right hand remains empty and stationary at the top-right edge of the frame, with no movement toward the work surface."}, {"label": "valid", "start_step": 0, "end_step": 899, "id": "adQZyTWA1ppe6zZCVvO2V"}, {"label": "subtasks", "start_step": 75, "end_step": 149, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without any observable movement throughout the segment. | Right hand: reach: Right hand moves down and left from the top-right edge of the frame toward the wooden mallet, staying empty and not making contact with the mallet."}, {"label": "subtasks", "start_step": 150, "end_step": 284, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without any observable movement throughout the segment. | Right hand: grasp: Right hand makes contact with the wooden mallet handle, closes fingers around the handle and adjusts finger and 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hand remains empty at the left edge of the frame without any observable movement throughout the segment. | Right hand: transport_press: Right hand moves the held wooden mallet straight downward a short distance, bringing the yellow mallet head into contact with the top of the red peg to apply vertical downward force."}, {"label": "subtasks", "start_step": 548, "end_step": 749, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without any observable movement throughout the segment. | Right hand: hold: Right hand maintains a stable grip on the wooden mallet handle, holding the mallet stationary with the yellow mallet head resting on the top of the red peg on the wooden base."}, {"label": "subtasks", "start_step": 750, "end_step": 764, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without any observable movement throughout the segment. | Right hand: grasp: Right hand adjusts its fingers around the wooden mallet handle to form a stable grip, fingers tightening against the wooden surface."}, {"label": "subtasks", "start_step": 765, "end_step": 779, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without any observable movement throughout the segment. | Right hand: lift: Right hand lifts the wooden mallet upward, fully separating it from the supporting wooden toy base below."}, {"label": "subtasks", "start_step": 780, "end_step": 831, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without any observable movement throughout the segment. | Right hand: transport: Right hand carries the lifted wooden mallet horizontally rightward across the black textured mat."}, {"label": "subtasks", "start_step": 832, "end_step": 869, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left 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"id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without any observable movement throughout the segment. | Right hand: reach: Right hand enters from the top-right of the frame, empty, and moves downward toward the yellow hammer head on the black mat."}, {"label": "subtasks", "start_step": 1035, "end_step": 1047, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without any observable movement throughout the segment. | Right hand: grasp: Right hand makes contact with the yellow hammer head, closes fingers around it to establish a grasp while the hammer stays on the black mat."}], "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 edge of the frame without any observable movement throughout the segment. | Right hand: idle: Right hand remains empty and stationary at the top-right edge of the frame, with no movement toward the work surface."}, {"label": "subtasks", "start_step": 75, "end_step": 149, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without any observable movement throughout the segment. | Right hand: reach: Right hand moves down and left from the top-right edge of the frame toward the wooden mallet, staying empty and not making contact with the mallet."}, {"label": "subtasks", "start_step": 150, "end_step": 284, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without any observable movement throughout the segment. | Right hand: grasp: Right hand makes contact with the wooden mallet handle, closes fingers around the handle and adjusts finger and wrist positions to form a grasp, while the mallet remains resting on the black work surface."}, {"label": "subtasks", "start_step": 285, "end_step": 321, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without any observable movement throughout the segment. | Right hand: grasp: Right hand closes and adjusts its fingers to establish a stable grasp on the wooden handle of the mallet resting on the black work surface."}, {"label": "subtasks", "start_step": 322, "end_step": 344, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without any observable movement throughout the segment. | Right hand: lift: Right hand lifts the grasped mallet upward until the mallet is completely raised off the black work surface."}, {"label": "subtasks", "start_step": 345, "end_step": 381, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without any observable movement throughout the segment. | Right hand: transport: Right hand carries the lifted mallet leftward through the air toward the wooden pegboard."}, {"label": "subtasks", "start_step": 382, "end_step": 397, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without any observable movement throughout the segment. | Right hand: place: Right hand lowers the mallet to rest its wooden handle on the wooden pegboard surface."}, {"label": "subtasks", "start_step": 398, "end_step": 524, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without any observable movement throughout the segment. | Right hand: hold: Right hand holds the positioned mallet on the wooden pegboard without observable movement."}, {"label": "subtasks", "start_step": 525, "end_step": 547, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without any observable movement throughout the segment. | Right hand: transport_press: Right hand moves the held wooden mallet straight downward a short distance, bringing the yellow mallet head into contact with the top of the red peg to apply vertical downward force."}, {"label": "subtasks", "start_step": 548, "end_step": 749, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without any observable movement throughout the segment. | Right hand: hold: Right hand maintains a stable grip on the wooden mallet handle, holding the mallet stationary with the yellow mallet head resting on the top of the red peg on the wooden base."}, {"label": "subtasks", "start_step": 750, "end_step": 764, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without any observable movement throughout the segment. | Right hand: grasp: Right hand adjusts its fingers around the wooden mallet handle to form a stable grip, fingers tightening against the wooden surface."}, {"label": "subtasks", "start_step": 765, "end_step": 779, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without any observable movement throughout the segment. | Right hand: lift: Right hand lifts the wooden mallet upward, fully separating it from the supporting wooden toy base below."}, {"label": "subtasks", "start_step": 780, "end_step": 831, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without any observable movement throughout the segment. | Right hand: transport: Right hand carries the lifted wooden mallet horizontally rightward across the black textured mat."}, {"label": "subtasks", "start_step": 832, "end_step": 869, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without any observable movement throughout the segment. | Right hand: place_release: Right hand lowers the wooden mallet onto the right area of the black mat until the mallet is fully supported by the surface, fingers opening to release the mallet handle."}, {"label": "subtasks", "start_step": 870, "end_step": 884, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without any observable movement throughout the segment. | Right hand: retreat: Right hand moves empty in an upward-right direction away from the resting wooden mallet."}, {"label": "subtasks", "start_step": 885, "end_step": 1019, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without any observable movement throughout the segment."}, {"label": "subtasks", "start_step": 1020, "end_step": 1034, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without any observable movement throughout the segment. | Right hand: reach: Right hand enters from the top-right of the frame, empty, and moves downward toward the yellow hammer head on the black mat."}, {"label": "subtasks", "start_step": 1035, "end_step": 1047, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without any observable movement throughout the segment. | Right hand: grasp: Right hand makes contact with the yellow hammer head, closes fingers around it to establish a grasp while the hammer stays on the black mat."}], "episode_index": 343} +{"source_uid": "8194b221c4918fd3", "num_frames": 935, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. 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"start_step": 278, "end_step": 344, "id": "reasoning-language-00006", "text": "Right hand: transport: Right hand transports the yellow-headed wooden hammer towards the wooden perforated plate with green pegs."}, {"label": "subtasks", "start_step": 345, "end_step": 404, "id": "reasoning-language-00007", "text": "Right hand: grasp: Right hand adjusts its fingers to form a stable grasp on the yellow-headed wooden hammer."}, {"label": "subtasks", "start_step": 405, "end_step": 449, "id": "reasoning-language-00008", "text": "Right hand: hold: Right hand holds the yellow-headed wooden hammer without moving."}, {"label": "subtasks", "start_step": 450, "end_step": 509, "id": "reasoning-language-00009", "text": "Right hand: transport: Right hand moves the yellow-headed wooden hammer upwards to the position above the green peg."}, {"label": "subtasks", "start_step": 510, "end_step": 561, "id": "reasoning-language-00010", "text": "Right hand: transport: Right hand moves the yellow-headed wooden 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"start_step": 742, "end_step": 749, "id": "reasoning-language-00015", "text": "Right hand: retreat: Right hand retreats away from the hammer placed on the black table surface."}, {"label": "home", "start_step": 761, "end_step": 909, "id": "lU4OeLcSklSUnwe0jGkHs"}], "language_segments": [{"label": "subtasks", "start_step": 60, "end_step": 134, "id": "reasoning-language-00001", "text": "Right hand: reach: Right hand enters from the right edge of the frame and moves toward the yellow-headed hammer placed on the black mat."}, {"label": "subtasks", "start_step": 135, "end_step": 179, "id": "reasoning-language-00002", "text": "Right hand: grasp: Right hand contacts the wooden handle of the yellow-headed hammer, adjusts fingers to form a stable grip."}, {"label": "subtasks", "start_step": 180, "end_step": 224, "id": "reasoning-language-00003", "text": "Right hand: hold: Right hand holds the yellow-headed hammer stably on the black mat without moving."}, {"label": "subtasks", "start_step": 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"reasoning-language-00008", "text": "Right hand: lift_transport: Right hand holds the wooden mallet, lifts it completely off the wooden peg board, and transports it toward the right rear area above the black work surface."}, {"label": "subtasks", "start_step": 728, "end_step": 757, "id": "reasoning-language-00009", "text": "Right hand: place_release: Right hand lowers the wooden mallet onto the black table surface until it rests stably, with fingers opening to release contact with the mallet."}, {"label": "subtasks", "start_step": 758, "end_step": 794, "id": "reasoning-language-00010", "text": "Right hand: retreat: Right hand stays empty as it moves upward and backward away from the resting mallet."}, {"label": "home", "start_step": 777, "end_step": 925, "id": "Qede_8Pgdbzw8YR89NNmz"}], "language_segments": [{"label": "subtasks", "start_step": 90, "end_step": 141, "id": "reasoning-language-00001", "text": "Right hand: reach: Right hand enters from the top right edge of the frame, moves 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"reasoning-language-00005", "text": "Right hand: grasp: Right hand slightly adjusts its finger positions on the mallet handle to stabilize the grip, with minimal movement of the mallet above the peg board."}, {"label": "subtasks", "start_step": 450, "end_step": 494, "id": "reasoning-language-00006", "text": "Right hand: press: Right hand holds the handle of the wooden mallet, moves vertically downward together with the mallet, and applies downward pressure to press the mallet head against the green peg on the perforated wooden board."}, {"label": "subtasks", "start_step": 495, "end_step": 674, "id": "reasoning-language-00007", "text": "Right hand: grasp: Right hand continuously makes fine adjustments to its grip on the wooden mallet, slightly shifting the mallet's horizontal position and rotating it by small angles to adjust its placement on the wooden peg board."}, {"label": "subtasks", "start_step": 675, "end_step": 727, "id": "reasoning-language-00008", "text": "Right hand: lift_transport: Right hand holds the wooden mallet, lifts it completely off the wooden peg board, and transports it toward the right rear area above the black work surface."}, {"label": "subtasks", "start_step": 728, "end_step": 757, "id": "reasoning-language-00009", "text": "Right hand: place_release: Right hand lowers the wooden mallet onto the black table surface until it rests stably, with fingers opening to release contact with the mallet."}, {"label": "subtasks", "start_step": 758, "end_step": 794, "id": "reasoning-language-00010", "text": "Right hand: retreat: Right hand stays empty as it moves upward and backward away from the resting mallet."}], "episode_index": 349} +{"source_uid": "97301cafe1c093b5", "num_frames": 962, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table.", "tags": {"task_name": "Hammer Nails", "task_instruction": "Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table.", "scene_description": "A hammer and two nails are placed on the table. 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hand: hold: Right hand holds the hammer steadily with the yellow head positioned over the red peg on the wooden board without observable movement."}, {"label": "subtasks", "start_step": 390, "end_step": 449, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains outside the visible operation area, empty and stationary with no observable movement. | Right hand: grasp: Right hand adjusts its fingers around the wooden handle of the hammer, slightly tightening the grip to stabilize hold on the hammer."}, {"label": "subtasks", "start_step": 450, "end_step": 591, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains outside the visible operation area, empty and stationary with no observable movement. | Right hand: transport: Right hand holds the hammer and moves it slightly upward and leftward to reposition it directly above the top of the green peg."}, {"label": "subtasks", "start_step": 592, "end_step": 614, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains outside the visible operation area, empty and stationary with no observable movement. | Right hand: press: Right hand moves the hammer slightly downward vertically to strike the top of the green peg, applying downward pressure on the peg surface."}, {"label": "subtasks", "start_step": 615, "end_step": 651, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains outside the visible operation area, empty and stationary with no observable movement. | Right hand: lift: Right hand holds the wooden hammer and lifts it upward to fully separate it from the wooden peg platform and black supporting surface."}, {"label": "subtasks", "start_step": 652, "end_step": 674, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains outside the visible operation area, empty and stationary with no observable movement. | Right hand: transport: Right hand carries the lifted hammer toward the right side of the work area, rotating the hammer about a quarter turn to adjust its orientation to horizontal."}, {"label": "subtasks", "start_step": 675, "end_step": 704, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains outside the visible operation area, empty and stationary with no observable movement. | Right hand: place_release: Right hand lowers the hammer onto the right area of the black supporting surface to lay it horizontally, with fingers opening to release the hammer handle."}, {"label": "subtasks", "start_step": 705, "end_step": 719, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains outside the visible operation area, empty and stationary with no observable movement. | Right hand: retreat: Right hand moves away from the placed hammer in the upward-right direction with empty fingers."}, {"label": "subtasks", "start_step": 720, "end_step": 870, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains outside the visible 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with pegs."}, {"label": "subtasks", "start_step": 330, "end_step": 367, "id": "reasoning-language-00006", "text": "Right hand: transport: Right hand holds the wooden hammer and moves it upward to the position above the yellow peg on the wooden toy."}, {"label": "subtasks", "start_step": 368, "end_step": 411, "id": "reasoning-language-00007", "text": "Right hand: press: Right hand moves the wooden hammer downward to press against the yellow peg, striking it to push out the red small peg."}, {"label": "subtasks", "start_step": 412, "end_step": 449, "id": "reasoning-language-00008", "text": "Right hand: transport: Right hand holds the wooden hammer and moves it upward away from the yellow peg."}, {"label": "subtasks", "start_step": 450, "end_step": 494, "id": "reasoning-language-00009", "text": "Right hand: press: Right hand moves the wooden hammer downward to press against the yellow peg, striking it to push out the red small peg."}, {"label": "subtasks", "start_step": 495, "end_step": 539, "id": "reasoning-language-00010", "text": "Right hand: transport: Right hand holds the wooden hammer and moves it upward away from the yellow peg."}, {"label": "subtasks", "start_step": 540, "end_step": 584, "id": "reasoning-language-00011", "text": "Right hand: press: Right hand moves the wooden hammer downward to press against the yellow peg, striking it to push out the red small peg."}, {"label": "subtasks", "start_step": 585, "end_step": 659, "id": "reasoning-language-00012", "text": "Right hand: transport: Right hand holds the yellow hammer and moves rightward in the air above the black mat."}, {"label": "subtasks", "start_step": 660, "end_step": 681, "id": "reasoning-language-00013", "text": "Right hand: place: Right hand moves the hammer downward and places it on the right area of the black mat."}, {"label": "subtasks", "start_step": 682, "end_step": 704, "id": "reasoning-language-00014", "text": "Right hand: release_retreat: Right hand releases the hammer and moves 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"reasoning-language-00007", "text": "Right hand: press: Right hand moves the wooden hammer downward to press against the yellow peg, striking it to push out the red small peg."}, {"label": "subtasks", "start_step": 412, "end_step": 449, "id": "reasoning-language-00008", "text": "Right hand: transport: Right hand holds the wooden hammer and moves it upward away from the yellow peg."}, {"label": "subtasks", "start_step": 450, "end_step": 494, "id": "reasoning-language-00009", "text": "Right hand: press: Right hand moves the wooden hammer downward to press against the yellow peg, striking it to push out the red small peg."}, {"label": "subtasks", "start_step": 495, "end_step": 539, "id": "reasoning-language-00010", "text": "Right hand: transport: Right hand holds the wooden hammer and moves it upward away from the yellow peg."}, {"label": "subtasks", "start_step": 540, "end_step": 584, "id": "reasoning-language-00011", "text": "Right hand: press: Right hand moves the wooden hammer 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hand reaches downward towards the top of the wooden board and grasps it with fingers adjusting to form a stable grip."}], "episode_index": 373} +{"source_uid": "f2b244f465000779", "num_frames": 892, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Hammer_Nails_v2", "tags": {"task_name": "Hammer_Nails_v2", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "B", "SOP": ""}, "segments": [{"label": "valid", "start_step": 0, "end_step": 742, "id": "yunvHqXptfBn9LUGsA_Gs"}, {"label": "subtasks", "start_step": 15, "end_step": 134, "id": "reasoning-language-00001", "text": "Right hand: reach: Right hand moves downward from the upper right of the frame toward the wooden handle of the yellow hammer, staying empty while approaching the target."}, {"label": "subtasks", "start_step": 135, "end_step": 194, "id": "reasoning-language-00002", "text": "Right hand: grasp: Right hand closes fingers around the wooden handle of the yellow hammer, 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hold: Right hand holds the wooden mallet with a yellow head resting on the wooden peg toy without any visible movement."}, {"label": "subtasks", "start_step": 405, "end_step": 434, "id": "reasoning-language-00007", "text": "Right hand: grasp: Right hand slightly rotates the wrist left to turn the mallet head about 30 degrees left, with minor finger adjustments to the grip on the mallet handle."}, {"label": "subtasks", "start_step": 435, "end_step": 479, "id": "reasoning-language-00008", "text": "Right hand: grasp: Right hand rotates the wrist right to return the mallet head to the forward-facing position, shifts slightly upward, and adjusts finger contact points on the mallet handle."}, {"label": "subtasks", "start_step": 480, "end_step": 501, "id": "reasoning-language-00009", "text": "Right hand: hold: Right hand holds the mallet steady on the peg toy without visible movement of the hand, fingers, or mallet."}, {"label": "subtasks", "start_step": 502, "end_step": 577, "id": "reasoning-language-00010", "text": "Right hand: grasp: Right hand rotates the wrist left to tilt the mallet head about 45 degrees left, shifts slightly downward, and makes minor finger adjustments to stabilize the grip."}, {"label": "subtasks", "start_step": 578, "end_step": 629, "id": "reasoning-language-00011", "text": "Right hand: hold: Right hand holds the tilted mallet steady on the peg toy without any visible movement."}, {"label": "subtasks", "start_step": 630, "end_step": 644, "id": "reasoning-language-00012", "text": "Right hand: grasp: Right hand rotates the wrist slightly right to turn the mallet head back toward the forward position, with minor grip adjustment."}, {"label": "subtasks", "start_step": 645, "end_step": 689, "id": "reasoning-language-00013", "text": "Right hand: transport: Right hand holds the wooden mallet with a yellow head and moves it rightward through the air above the black work surface, away from the wooden peg toy."}, {"label": "subtasks", "start_step": 690, "end_step": 711, "id": "reasoning-language-00014", "text": "Right hand: place_release: Right hand lowers the held wooden mallet to rest stably on the right area of the black work surface and opens its fingers to release the mallet handle."}, {"label": "subtasks", "start_step": 712, "end_step": 734, "id": "reasoning-language-00015", "text": "Right hand: retreat: Right hand moves empty upward and rightward away from the placed wooden mallet."}, {"label": "home", "start_step": 743, "end_step": 891, "id": "JjmWbRh1g076DU2TkZVc7"}], "language_segments": [{"label": "subtasks", "start_step": 15, "end_step": 134, "id": "reasoning-language-00001", "text": "Right hand: reach: Right hand moves downward from the upper right of the frame toward the wooden handle of the yellow hammer, staying empty while approaching the target."}, {"label": "subtasks", "start_step": 135, "end_step": 194, "id": "reasoning-language-00002", "text": "Right hand: grasp: Right hand closes fingers around 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"reasoning-language-00006", "text": "Right hand: hold: Right hand holds the wooden mallet with a yellow head resting on the wooden peg toy without any visible movement."}, {"label": "subtasks", "start_step": 405, "end_step": 434, "id": "reasoning-language-00007", "text": "Right hand: grasp: Right hand slightly rotates the wrist left to turn the mallet head about 30 degrees left, with minor finger adjustments to the grip on the mallet handle."}, {"label": "subtasks", "start_step": 435, "end_step": 479, "id": "reasoning-language-00008", "text": "Right hand: grasp: Right hand rotates the wrist right to return the mallet head to the forward-facing position, shifts slightly upward, and adjusts finger contact points on the mallet handle."}, {"label": "subtasks", "start_step": 480, "end_step": 501, "id": "reasoning-language-00009", "text": "Right hand: hold: Right hand holds the mallet steady on the peg toy without visible movement of the hand, fingers, or mallet."}, {"label": "subtasks", "start_step": 502, "end_step": 577, "id": "reasoning-language-00010", "text": "Right hand: grasp: Right hand rotates the wrist left to tilt the mallet head about 45 degrees left, shifts slightly downward, and makes minor finger adjustments to stabilize the grip."}, {"label": "subtasks", "start_step": 578, "end_step": 629, "id": "reasoning-language-00011", "text": "Right hand: hold: Right hand holds the tilted mallet steady on the peg toy without any visible movement."}, {"label": "subtasks", "start_step": 630, "end_step": 644, "id": "reasoning-language-00012", "text": "Right hand: grasp: Right hand rotates the wrist slightly right to turn the mallet head back toward the forward position, with minor grip adjustment."}, {"label": "subtasks", "start_step": 645, "end_step": 689, "id": "reasoning-language-00013", "text": "Right hand: transport: Right hand holds the wooden mallet with a yellow head and moves it rightward through the air above the black work surface, away from the wooden peg toy."}, {"label": "subtasks", "start_step": 690, "end_step": 711, "id": "reasoning-language-00014", "text": "Right hand: place_release: Right hand lowers the held wooden mallet to rest stably on the right area of the black work surface and opens its fingers to release the mallet handle."}, {"label": "subtasks", "start_step": 712, "end_step": 734, "id": "reasoning-language-00015", "text": "Right hand: retreat: Right hand moves empty upward and rightward away from the placed wooden mallet."}], "episode_index": 374} +{"source_uid": "424efc4e35ca706f", "num_frames": 873, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. 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"id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without any visible movement. | Right hand: hold: Right hand holds the wooden handle of the yellow mallet resting on the black work surface without any visible movement."}, {"label": "subtasks", "start_step": 225, "end_step": 239, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without any visible movement. | Right hand: release: Right hand opens fingers to release the previous grip on the wooden mallet handle, separating fingers from the handle surface."}, {"label": "subtasks", "start_step": 240, "end_step": 254, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without any visible movement. | Right hand: reach: Right hand moves slightly toward the target position on the wooden mallet handle with fingers spread, approaching the handle without making contact."}, {"label": "subtasks", "start_step": 255, "end_step": 411, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without any visible movement. | Right hand: grasp: Right hand makes contact with the wooden mallet handle, repeatedly adjusting finger positions, opening and closing fingers slightly to shift contact points for a stable grip."}, {"label": "subtasks", "start_step": 412, "end_step": 434, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without any visible movement. | Right hand: hold: Right hand holds the wooden mallet handle steadily on the black work surface, with no visible movement of the hand, fingers or the mallet."}, {"label": "subtasks", "start_step": 435, "end_step": 479, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without any visible movement. | Right hand: grasp: Right hand adjusts finger positions to firmly grasp the wooden handle of the yellow mallet resting on the black table surface."}, {"label": "subtasks", "start_step": 480, "end_step": 554, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without any visible movement. | Right hand: lift_transport: Right hand lifts the grasped yellow mallet off the black table surface and moves it leftward toward the wooden peg toy."}, {"label": "subtasks", "start_step": 555, "end_step": 584, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without any visible movement. | Right hand: hold: Right hand holds the yellow mallet steadily above the wooden peg toy without moving."}, {"label": "subtasks", "start_step": 585, "end_step": 727, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without any visible movement. | Right hand: grasp: Right hand adjusts finger positions around the wooden mallet handle to form and stabilize a firm grip on the mallet."}, {"label": "subtasks", "start_step": 728, "end_step": 771, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without any visible movement. | Right hand: hold: Right hand holds the wooden mallet handle with a stable grip, with no visible movement of the hand, fingers or mallet."}, {"label": "subtasks", "start_step": 772, "end_step": 794, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without any visible movement. | Right hand: press: Right hand moves the held wooden mallet vertically downward, applying downward pressure to the peg positioned under the mallet head."}, {"label": "subtasks", "start_step": 795, "end_step": 854, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without any visible movement. | Right hand: lift_transport: Right hand grips the wooden mallet with a yellow head, lifts it clear of the wooden peg toy base, and carries it rightward through the air to a position above the right section of the black work surface."}, {"label": "subtasks", "start_step": 855, "end_step": 877, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without any visible movement. | Right hand: place_release: Right hand lowers the wooden mallet until the yellow head and wooden handle lie stably on the black work surface, opening its fingers to release contact with the mallet handle."}, {"label": "subtasks", "start_step": 878, "end_step": 929, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without any visible movement. | Right hand: retreat: Right hand moves in an empty state upward and rightward, retreating away from the placed mallet until it moves out of the visible frame."}, {"label": "home", "start_step": 904, "end_step": 1051, "id": "8fHqhLP4q_gFrT7AU4Fd5"}, {"label": "subtasks", "start_step": 930, "end_step": 1034, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without any visible movement."}, {"label": "subtasks", "start_step": 1035, "end_step": 1049, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without any visible movement. | Right hand: reach: Right hand enters from the top-right edge of the frame, moves downward to approach the yellow mallet on the black mat."}, {"label": "subtasks", "start_step": 1050, "end_step": 1051, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without any visible movement."}], "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 edge of the frame without any visible movement. | Right hand: idle: Right hand remains empty at the top-right edge of the frame without any visible movement."}, {"label": "subtasks", "start_step": 60, "end_step": 127, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without any visible movement. | Right hand: reach: Right hand moves diagonally downward and leftward with fingers slightly open, approaching the wooden handle of the yellow mallet placed on the black textured surface."}, {"label": "subtasks", "start_step": 128, "end_step": 194, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without any visible movement. | Right hand: grasp: Right hand closes fingers around the wooden handle of the yellow mallet, making small adjustments to finger positions to establish a grip."}, {"label": "subtasks", "start_step": 195, "end_step": 224, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without any visible movement. | Right hand: hold: Right hand holds the wooden handle of the yellow mallet resting on the black work surface without any visible movement."}, {"label": "subtasks", "start_step": 225, "end_step": 239, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without any visible movement. | Right hand: release: Right hand opens fingers to release the previous grip on the wooden mallet handle, separating fingers from the handle surface."}, {"label": "subtasks", "start_step": 240, "end_step": 254, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without any visible movement. | Right hand: reach: Right hand moves slightly toward the target position on the wooden mallet handle with fingers spread, approaching the handle without making contact."}, {"label": "subtasks", "start_step": 255, "end_step": 411, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without any visible movement. | Right hand: grasp: Right hand makes contact with the wooden mallet handle, repeatedly adjusting finger positions, opening and closing fingers slightly to shift contact points for a stable grip."}, {"label": "subtasks", "start_step": 412, "end_step": 434, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without any visible movement. | Right hand: hold: Right hand holds the wooden mallet handle steadily on the black work surface, with no visible movement of the hand, fingers or the mallet."}, {"label": "subtasks", "start_step": 435, "end_step": 479, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without any visible movement. | Right hand: grasp: Right hand adjusts finger positions to firmly grasp the wooden handle of the yellow mallet resting on the black table surface."}, {"label": "subtasks", "start_step": 480, "end_step": 554, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without any visible movement. | Right hand: lift_transport: Right hand lifts the grasped yellow mallet off the black table surface and moves it leftward toward the wooden peg toy."}, {"label": "subtasks", "start_step": 555, "end_step": 584, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without any visible movement. | Right hand: hold: Right hand holds the yellow mallet steadily above the wooden peg toy without moving."}, {"label": "subtasks", "start_step": 585, "end_step": 727, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without any visible movement. | Right hand: grasp: Right hand adjusts finger positions around the wooden mallet handle to form and stabilize a firm grip on the mallet."}, {"label": "subtasks", "start_step": 728, "end_step": 771, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without any visible movement. | Right hand: hold: Right hand holds the wooden mallet handle with a stable grip, with no visible movement of the hand, fingers or mallet."}, {"label": "subtasks", "start_step": 772, "end_step": 794, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without any visible movement. | Right hand: press: Right hand moves the held wooden mallet vertically downward, applying downward pressure to the peg positioned under the mallet head."}, {"label": "subtasks", "start_step": 795, "end_step": 854, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without any visible movement. | Right hand: lift_transport: Right hand grips the wooden mallet with a yellow head, lifts it clear of the wooden peg toy base, and carries it rightward through the air to a position above the right section of the black work surface."}, {"label": "subtasks", "start_step": 855, "end_step": 877, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without any visible movement. | Right hand: place_release: Right hand lowers the wooden mallet until the yellow head and wooden handle lie stably on the black work surface, opening its fingers to release contact with the mallet handle."}, {"label": "subtasks", "start_step": 878, "end_step": 929, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without any visible movement. | Right hand: retreat: Right hand moves in an empty state upward and rightward, retreating away from the placed mallet until it moves out of the visible frame."}, {"label": "subtasks", "start_step": 930, "end_step": 1034, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without any visible movement."}, {"label": "subtasks", "start_step": 1035, "end_step": 1049, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without any visible movement. | Right hand: reach: Right hand enters from the top-right edge of the frame, moves downward to approach the yellow mallet on the black mat."}, {"label": "subtasks", "start_step": 1050, "end_step": 1051, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without any visible movement."}], "episode_index": 376} +{"source_uid": "febbd987ba3a03f3", "num_frames": 977, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Hammer_Nails_v2", "tags": {"task_name": "Hammer_Nails_v2", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "B", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 67, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains partially visible at the left edge of the camera frame, empty and stationary without contacting any objects. | Right hand: idle: Right hand remains partially visible at the top-right edge of the camera frame, empty and stationary without moving."}, {"label": "valid", "start_step": 0, "end_step": 827, "id": "8BjT2i6L1Ooob1f4fS2MD"}, {"label": "subtasks", "start_step": 68, "end_step": 127, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains partially visible at the left edge of the camera frame, empty and stationary without contacting any objects. | Right hand: reach: Right hand moves leftward and downward toward the wooden handle of the yellow hammer, remaining empty as it approaches the target."}, {"label": "subtasks", "start_step": 128, "end_step": 224, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains partially visible at the left edge of the camera frame, empty and stationary without contacting any objects. | Right hand: grasp: Right hand makes contact with the wooden handle of the yellow hammer, fingers closing and adjusting to form a grip on the handle while the hammer stays resting on the black work surface."}, {"label": "subtasks", "start_step": 225, "end_step": 284, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains partially visible at the left edge of the camera frame, empty and stationary without contacting any objects. | Right hand: grasp: Right hand adjusts finger positions to close around and establish a stable grasp on the wooden handle of the yellow mallet resting on the black table surface."}, {"label": "subtasks", "start_step": 285, "end_step": 329, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains partially visible at the left edge of the camera frame, empty and stationary without contacting any objects. | Right hand: lift: Right hand lifts the grasped yellow mallet upward, raising the yellow mallet head fully off the table while the distal end of the wooden handle remains in contact with the table surface."}, {"label": "subtasks", "start_step": 330, "end_step": 389, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains partially visible at the left edge of the camera frame, empty and stationary without contacting any objects. | Right hand: transport: Right hand transports the lifted yellow mallet leftward toward the wooden peg toy, while rotating the mallet clockwise about a quarter turn to point the yellow mallet head downward."}, {"label": "subtasks", "start_step": 390, "end_step": 434, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains partially visible at the left edge of the camera frame, empty and stationary without contacting any objects. | Right hand: hold: Right hand holds the yellow mallet steadily above the wooden peg toy, with the mallet head aligned over the pegs, without any observable movement."}, {"label": "subtasks", "start_step": 435, "end_step": 487, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains partially visible at the left edge of the camera frame, empty and stationary without contacting any objects. | Right hand: mate: Right hand holds the wooden mallet handle, shifts the mallet slightly horizontally to align its shaft with the target hole on the perforated wooden board."}, {"label": "subtasks", "start_step": 488, "end_step": 539, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains partially visible at the left edge of the camera frame, empty and stationary without contacting any objects. | Right hand: press: Right hand exerts vertical downward pressure on the aligned wooden mallet, pushing the mallet head down to make firm contact with the wooden board surface."}, {"label": "subtasks", "start_step": 540, "end_step": 629, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains partially visible at the left edge of the camera frame, empty and stationary without contacting any objects. | Right hand: hold: Right hand holds the wooden mallet steady against the wooden board with no observable movement of the hand or mallet."}, {"label": "subtasks", "start_step": 630, "end_step": 674, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains partially visible at the left edge of the camera frame, empty and stationary without contacting any objects. | Right hand: grasp: Right hand makes slight adjustments to its fingers and wrist to resecure its grasp on the wooden mallet on the wooden toy."}, {"label": "subtasks", "start_step": 675, "end_step": 727, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains partially visible at the left edge of the camera frame, empty and stationary without contacting any objects. | Right hand: lift_transport: Right hand lifts the wooden mallet completely off the wooden toy, transports it toward the right side of the black work surface, and rotates the mallet about a quarter turn to shift the yellow mallet head from a vertical to horizontal orientation."}, {"label": "subtasks", "start_step": 728, "end_step": 779, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains partially visible at the left edge of the camera frame, empty and stationary without contacting any objects. | Right hand: place_release: Right hand lowers the wooden mallet onto the right side of the black work surface, opens its fingers to release the mallet to rest flat on the surface."}, {"label": "subtasks", "start_step": 780, "end_step": 801, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains partially visible at the left edge of the camera frame, empty and stationary without contacting any objects. | Right hand: idle: Right hand remains empty beside the wooden mallet on the black work surface, holding a static posture with no movement."}, {"label": "subtasks", "start_step": 802, "end_step": 847, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains partially visible at the left edge of the camera frame, empty and stationary without contacting any objects. | Right hand: retreat: Right hand moves upward and rightward away from the mallet while remaining empty, retreating from the operation position near the mallet."}, {"label": "home", "start_step": 828, "end_step": 976, "id": "WgSc-yB1oRSviUo90Rbly"}, {"label": "subtasks", "start_step": 848, "end_step": 974, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains partially visible at the left edge of the camera frame, empty and stationary without contacting any objects. | Right hand: idle: Right hand is not visible in the frame, with no observable movement or contact with any operated object."}, {"label": "subtasks", "start_step": 975, "end_step": 976, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains partially visible at the left edge of the camera frame, empty and stationary without contacting any objects. | Right hand: reach: Right hand enters from the upper right edge of the frame, moving downward as an empty hand."}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 67, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains partially visible at the left edge of the camera frame, empty and stationary without contacting any objects. | Right hand: idle: Right hand remains partially visible at the top-right edge of the camera frame, empty and stationary without moving."}, {"label": "subtasks", "start_step": 68, "end_step": 127, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains partially visible at the left edge of the camera frame, empty and stationary without contacting any objects. | Right hand: reach: Right hand moves leftward and downward toward the wooden handle of the yellow hammer, remaining empty as it approaches the target."}, {"label": "subtasks", "start_step": 128, "end_step": 224, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains partially visible at the left edge of the camera frame, empty and stationary without contacting any objects. | Right hand: grasp: Right hand makes contact with the wooden handle of the yellow hammer, fingers closing and adjusting to form a grip on the handle while the hammer stays resting on the black work surface."}, {"label": "subtasks", "start_step": 225, "end_step": 284, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains partially visible at the left edge of the camera frame, empty and stationary without contacting any objects. | Right hand: grasp: Right hand adjusts finger positions to close around and establish a stable grasp on the wooden handle of the yellow mallet resting on the black table surface."}, {"label": "subtasks", "start_step": 285, "end_step": 329, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains partially visible at the left edge of the camera frame, empty and stationary without contacting any objects. | Right hand: lift: Right hand lifts the grasped yellow mallet upward, raising the yellow mallet head fully off the table while the distal end of the wooden handle remains in contact with the table surface."}, {"label": "subtasks", "start_step": 330, "end_step": 389, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains partially visible at the left edge of the camera frame, empty and stationary without contacting any objects. | Right hand: transport: Right hand transports the lifted yellow mallet leftward toward the wooden peg toy, while rotating the mallet clockwise about a quarter turn to point the yellow mallet head downward."}, {"label": "subtasks", "start_step": 390, "end_step": 434, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains partially visible at the left edge of the camera frame, empty and stationary without contacting any objects. | Right hand: hold: Right hand holds the yellow mallet steadily above the wooden peg toy, with the mallet head aligned over the pegs, without any observable movement."}, {"label": "subtasks", "start_step": 435, "end_step": 487, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains partially visible at the left edge of the camera frame, empty and stationary without contacting any objects. | Right hand: mate: Right hand holds the wooden mallet handle, shifts the mallet slightly horizontally to align its shaft with the target hole on the perforated wooden board."}, {"label": "subtasks", "start_step": 488, "end_step": 539, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains partially visible at the left edge of the camera frame, empty and stationary without contacting any objects. | Right hand: press: Right hand exerts vertical downward pressure on the aligned wooden mallet, pushing the mallet head down to make firm contact with the wooden board surface."}, {"label": "subtasks", "start_step": 540, "end_step": 629, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains partially visible at the left edge of the camera frame, empty and stationary without contacting any objects. | Right hand: hold: Right hand holds the wooden mallet steady against the wooden board with no observable movement of the hand or mallet."}, {"label": "subtasks", "start_step": 630, "end_step": 674, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains partially visible at the left edge of the camera frame, empty and stationary without contacting any objects. | Right hand: grasp: Right hand makes slight adjustments to its fingers and wrist to resecure its grasp on the wooden mallet on the wooden toy."}, {"label": "subtasks", "start_step": 675, "end_step": 727, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains partially visible at the left edge of the camera frame, empty and stationary without contacting any objects. | Right hand: lift_transport: Right hand lifts the wooden mallet completely off the wooden toy, transports it toward the right side of the black work surface, and rotates the mallet about a quarter turn to shift the yellow mallet head from a vertical to horizontal orientation."}, {"label": "subtasks", "start_step": 728, "end_step": 779, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains partially visible at the left edge of the camera frame, empty and stationary without contacting any objects. | Right hand: place_release: Right hand lowers the wooden mallet onto the right side of the black work surface, opens its fingers to release the mallet to rest flat on the surface."}, {"label": "subtasks", "start_step": 780, "end_step": 801, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains partially visible at the left edge of the camera frame, empty and stationary without contacting any objects. | Right hand: idle: Right hand remains empty beside the wooden mallet on the black work surface, holding a static posture with no movement."}, {"label": "subtasks", "start_step": 802, "end_step": 847, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains partially visible at the left edge of the camera frame, empty and stationary without contacting any objects. | Right hand: retreat: Right hand moves upward and rightward away from the mallet while remaining empty, retreating from the operation position near the mallet."}, {"label": "subtasks", "start_step": 848, "end_step": 974, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains partially visible at the left edge of the camera frame, empty and stationary without contacting any objects. | Right hand: idle: Right hand is not visible in the frame, with no observable movement or contact with any operated object."}, {"label": "subtasks", "start_step": 975, "end_step": 976, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains partially visible at the left edge of the camera frame, empty and stationary without contacting any objects. | Right hand: reach: Right hand enters from the upper right edge of the frame, moving downward as an empty hand."}], "episode_index": 377} +{"source_uid": "4fd4da66eae69871", "num_frames": 1310, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Hammer_Nails_v2", "tags": {"task_name": "Hammer_Nails_v2", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "B", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 67, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand stays partially visible at the left edge of the frame, remaining empty and stationary without contacting any object. | Right hand: idle: Right hand remains at the top right edge of the frame, empty and without observable movement."}, {"label": "goal", "start_step": 0, "end_step": 368, "id": "fca94616-3939-4d15-b303-e22481afbb1b"}, {"label": "valid", "start_step": 0, "end_step": 1160, "id": "CRHcIuCTv1nbtEA0Q_nc9"}, {"label": "subtasks", "start_step": 68, "end_step": 164, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand stays partially visible at the left edge of the frame, remaining empty and stationary without contacting any object. | Right hand: reach: Right hand moves downward from the top right of the frame toward the wooden handle of the yellow mallet, staying empty while approaching the target."}, {"label": "subtasks", "start_step": 165, "end_step": 307, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand stays partially visible at the left edge of the frame, remaining empty and stationary without contacting any object. | Right hand: grasp: Right hand makes contact with the wooden handle of the yellow mallet, with fingers closing and making small adjustments to establish a stable grip on the handle."}, {"label": "subtasks", "start_step": 308, "end_step": 344, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand stays partially visible at the left edge of the frame, remaining empty and stationary without contacting any object. | Right hand: lift: Right hand holds the wooden handle of the yellow mallet and begins to lift the handle upward from the black supporting surface."}, {"label": "subtasks", "start_step": 345, "end_step": 381, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand stays partially visible at the left edge of the frame, remaining empty and stationary without contacting any object. | Right hand: grasp: Right hand closes its fingers around the wooden mallet handle to tighten and form a stable grip."}, {"label": "goal", "start_step": 369, "end_step": 626, "id": "82093629-35c5-4155-9b50-77b26276697b"}, {"label": "subtasks", "start_step": 382, "end_step": 411, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand stays partially visible at the left edge of the frame, remaining empty and stationary without contacting any object. | Right hand: lift: Right hand lifts the grasped wooden mallet upward until the mallet is completely separated from the black supporting surface."}, {"label": "subtasks", "start_step": 412, "end_step": 487, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand stays partially visible at the left edge of the frame, remaining empty and stationary without contacting any object. | Right hand: transport: Right hand carries the lifted wooden mallet leftward toward the area above the wooden peg platform."}, {"label": "subtasks", "start_step": 488, "end_step": 561, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand stays partially visible at the left edge of the frame, remaining empty and stationary without contacting any object. | Right hand: place: Right hand moves the wooden mallet downward to rest the yellow mallet head on the wooden peg platform until the mallet is supported by the platform."}, {"label": "subtasks", "start_step": 562, "end_step": 584, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand stays partially visible at the left edge of the frame, remaining empty and stationary without contacting any object. | Right hand: hold: Right hand holds the wooden mallet handle steadily without movement, with the mallet head supported by the wooden peg platform."}, {"label": "subtasks", "start_step": 585, "end_step": 681, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand stays partially visible at the left edge of the frame, remaining empty and stationary without contacting any object. | Right hand: grasp: Right hand adjusts finger positions to establish a stable grip on the wooden handle of the yellow mallet."}, {"label": "goal", "start_step": 627, "end_step": 950, "id": "a317792a-515a-404e-bd5e-8a1983a8f4e4"}, {"label": "subtasks", "start_step": 682, "end_step": 944, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand stays partially visible at the left edge of the frame, remaining empty and stationary without contacting any object. | Right hand: other:repeated_tapping: Right hand holds the yellow mallet, performing small repeated vertical up-and-down movements to tap the wooden peg on the wooden toy base."}, {"label": "subtasks", "start_step": 945, "end_step": 959, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand stays partially visible at the left edge of the frame, remaining empty and stationary without contacting any object. | Right hand: hold: Right hand holds the yellow wooden mallet inserted in the hole of the wooden platform without movement."}, {"label": "goal", "start_step": 951, "end_step": 1130, "id": "e62c4c6e-78fb-4648-834e-cb9deb189de5"}, {"label": "subtasks", "start_step": 960, "end_step": 981, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand stays partially visible at the left edge of the frame, remaining empty and stationary without contacting any object. | Right hand: lift: Right hand lifts the grasped yellow wooden mallet upward, fully detaching it from the wooden platform's surface."}, {"label": "subtasks", "start_step": 982, "end_step": 1034, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand stays partially visible at the left edge of the frame, remaining empty and stationary without contacting any object. | Right hand: transport_place: Right hand transports the grasped yellow wooden mallet rightward across the black mat and lowers it slightly to set its wooden end on the mat surface."}, {"label": "subtasks", "start_step": 1035, "end_step": 1101, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand stays partially visible at the left edge of the frame, remaining empty and stationary without contacting any object. | Right hand: hold: Right hand holds the yellow wooden mallet stationary against the rear wall, with its wooden end supported by the black mat."}, {"label": "subtasks", "start_step": 1102, "end_step": 1117, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand stays partially visible at the left edge of the frame, remaining empty and stationary without contacting any object. | Right hand: release: Right hand opens its fingers to release the grip on the wooden handle of the mallet, separating from the handle."}, {"label": "subtasks", "start_step": 1118, "end_step": 1139, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand stays partially visible at the left edge of the frame, remaining empty and stationary without contacting any object. | Right hand: idle: Right hand remains empty above the resting mallet on the black mat without moving."}, {"label": "subtasks", "start_step": 1140, "end_step": 1184, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand stays partially visible at the left edge of the frame, remaining empty and stationary without contacting any object. | Right hand: retreat: Right hand moves empty in an upward direction away from the mallet on the work mat."}, {"label": "home", "start_step": 1161, "end_step": 1309, "id": "2CwU4ySmZ4h8iXy-Zlcl5"}, {"label": "subtasks", "start_step": 1185, "end_step": 1289, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand stays partially visible at the left edge of the frame, remaining empty and stationary without contacting any object. | Right hand: idle: Right hand remains empty and stationary outside the visible operation area without moving."}, {"label": "subtasks", "start_step": 1290, "end_step": 1309, "id": "reasoning-language-00020", "text": "Left hand: reach_grasp: Left hand enters the frame from the top, moves downward toward the red peg on the wooden peg toy, closes fingers to make contact with the red peg and adjusts contact position slightly. | Right hand: reach_grasp: Right hand enters the frame from the top, moves downward toward the base of the wooden peg toy, closes fingers to make contact with the left edge of the toy base and adjusts contact position slightly."}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 67, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand stays partially visible at the left edge of the frame, remaining empty and stationary without contacting any object. | Right hand: idle: Right hand remains at the top right edge of the frame, empty and without observable movement."}, {"label": "subtasks", "start_step": 68, "end_step": 164, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand stays partially visible at the left edge of the frame, remaining empty and stationary without contacting any object. | Right hand: reach: Right hand moves downward from the top right of the frame toward the wooden handle of the yellow mallet, staying empty while approaching the target."}, {"label": "subtasks", "start_step": 165, "end_step": 307, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand stays partially visible at the left edge of the frame, remaining empty and stationary without contacting any object. | Right hand: grasp: Right hand makes contact with the wooden handle of the yellow mallet, with fingers closing and making small adjustments to establish a stable grip on the handle."}, {"label": "subtasks", "start_step": 308, "end_step": 344, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand stays partially visible at the left edge of the frame, remaining empty and stationary without contacting any object. | Right hand: lift: Right hand holds the wooden handle of the yellow mallet and begins to lift the handle upward from the black supporting surface."}, {"label": "subtasks", "start_step": 345, "end_step": 381, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand stays partially visible at the left edge of the frame, remaining empty and stationary without contacting any object. | Right hand: grasp: Right hand closes its fingers around the wooden mallet handle to tighten and form a stable grip."}, {"label": "subtasks", "start_step": 382, "end_step": 411, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand stays partially visible at the left edge of the frame, remaining empty and stationary without contacting any object. | Right hand: lift: Right hand lifts the grasped wooden mallet upward until the mallet is completely separated from the black supporting surface."}, {"label": "subtasks", "start_step": 412, "end_step": 487, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand stays partially visible at the left edge of the frame, remaining empty and stationary without contacting any object. | Right hand: transport: Right hand carries the lifted wooden mallet leftward toward the area above the wooden peg platform."}, {"label": "subtasks", "start_step": 488, "end_step": 561, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand stays partially visible at the left edge of the frame, remaining empty and stationary without contacting any object. | Right hand: place: Right hand moves the wooden mallet downward to rest the yellow mallet head on the wooden peg platform until the mallet is supported by the platform."}, {"label": "subtasks", "start_step": 562, "end_step": 584, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand stays partially visible at the left edge of the frame, remaining empty and stationary without contacting any object. | Right hand: hold: Right hand holds the wooden mallet handle steadily without movement, with the mallet head supported by the wooden peg platform."}, {"label": "subtasks", "start_step": 585, "end_step": 681, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand stays partially visible at the left edge of the frame, remaining empty and stationary without contacting any object. | Right hand: grasp: Right hand adjusts finger positions to establish a stable grip on the wooden handle of the yellow mallet."}, {"label": "subtasks", "start_step": 682, "end_step": 944, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand stays partially visible at the left edge of the frame, remaining empty and stationary without contacting any object. | Right hand: other:repeated_tapping: Right hand holds the yellow mallet, performing small repeated vertical up-and-down movements to tap the wooden peg on the wooden toy base."}, {"label": "subtasks", "start_step": 945, "end_step": 959, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand stays partially visible at the left edge of the frame, remaining empty and stationary without contacting any object. | Right hand: hold: Right hand holds the yellow wooden mallet inserted in the hole of the wooden platform without movement."}, {"label": "subtasks", "start_step": 960, "end_step": 981, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand stays partially visible at the left edge of the frame, remaining empty and stationary without contacting any object. | Right hand: lift: Right hand lifts the grasped yellow wooden mallet upward, fully detaching it from the wooden platform's surface."}, {"label": "subtasks", "start_step": 982, "end_step": 1034, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand stays partially visible at the left edge of the frame, remaining empty and stationary without contacting any object. | Right hand: transport_place: Right hand transports the grasped yellow wooden mallet rightward across the black mat and lowers it slightly to set its wooden end on the mat surface."}, {"label": "subtasks", "start_step": 1035, "end_step": 1101, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand stays partially visible at the left edge of the frame, remaining empty and stationary without contacting any object. | Right hand: hold: Right hand holds the yellow wooden mallet stationary against the rear wall, with its wooden end supported by the black mat."}, {"label": "subtasks", "start_step": 1102, "end_step": 1117, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand stays partially visible at the left edge of the frame, remaining empty and stationary without contacting any object. | Right hand: release: Right hand opens its fingers to release the grip on the wooden handle of the mallet, separating from the handle."}, {"label": "subtasks", "start_step": 1118, "end_step": 1139, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand stays partially visible at the left edge of the frame, remaining empty and stationary without contacting any object. | Right hand: idle: Right hand remains empty above the resting mallet on the black mat without moving."}, {"label": "subtasks", "start_step": 1140, "end_step": 1184, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand stays partially visible at the left edge of the frame, remaining empty and stationary without contacting any object. | Right hand: retreat: Right hand moves empty in an upward direction away from the mallet on the work mat."}, {"label": "subtasks", "start_step": 1185, "end_step": 1289, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand stays partially visible at the left edge of the frame, remaining empty and stationary without contacting any object. | Right hand: idle: Right hand remains empty and stationary outside the visible operation area without moving."}, {"label": "subtasks", "start_step": 1290, "end_step": 1309, "id": "reasoning-language-00020", "text": "Left hand: reach_grasp: Left hand enters the frame from the top, moves downward toward the red peg on the wooden peg toy, closes fingers to make contact with the red peg and adjusts contact position slightly. | Right hand: reach_grasp: Right hand enters the frame from the top, moves downward toward the base of the wooden peg toy, closes fingers to make contact with the left edge of the toy base and adjusts contact position slightly."}], "episode_index": 378} +{"source_uid": "fcc92245f968351e", "num_frames": 1001, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Hammer_Nails_v2", "tags": {"task_name": "Hammer_Nails_v2", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "B", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 51, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand does not appear in the visible operation area and remains stationary without contacting any object. | Right hand: idle: Right hand remains empty with no obvious displacement, positioned at the top-right edge of the frame when visible."}, {"label": "valid", "start_step": 0, "end_step": 852, "id": "XugumpCpH-oluC-n9U6D2"}, {"label": "subtasks", "start_step": 52, "end_step": 127, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand does not appear in the visible operation area and remains stationary without contacting any object. | Right hand: reach: Right hand moves down diagonally toward the wooden mallet with a yellow head on the right side of the black mat, fingers slightly open, and does not contact the mallet during this movement."}, {"label": "subtasks", "start_step": 128, "end_step": 224, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand does not appear in the visible operation area and remains stationary without contacting any object. | Right hand: grasp: Right hand contacts the wooden handle of the mallet, adjusts finger and wrist positions, and closes fingers around the handle to establish a grasp."}, {"label": "subtasks", "start_step": 225, "end_step": 277, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand does not appear in the visible operation area and remains stationary without contacting any object. | Right hand: grasp: Right hand adjusts its fingers around the wooden handle of the yellow-headed mallet resting on the black work surface to form a stable grip."}, {"label": "subtasks", "start_step": 278, "end_step": 321, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand does not appear in the visible operation area and remains stationary without contacting any object. | Right hand: lift: Right hand raises the grasped wooden mallet upward until the entire mallet is fully lifted clear of the black work surface."}, {"label": "subtasks", "start_step": 322, "end_step": 397, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand does not appear in the visible operation area and remains stationary without contacting any object. | Right hand: transport: Right hand carries the lifted wooden mallet horizontally left toward the light wooden peg board with green support posts."}, {"label": "subtasks", "start_step": 398, "end_step": 479, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand does not appear in the visible operation area and remains stationary without contacting any object. | Right hand: hold: Right hand holds the wooden mallet stationary above the wooden peg board, with no visible movement of the hand or mallet."}, {"label": "subtasks", "start_step": 480, "end_step": 749, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand does not appear in the visible operation area and remains stationary without contacting any object. | Right hand: other:tapping_with_mallet: Right hand grips the wooden mallet handle and makes small repeated vertical up-and-down movements to tap the wooden peg on the perforated wooden platform."}, {"label": "subtasks", "start_step": 750, "end_step": 801, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand does not appear in the visible operation area and remains stationary without contacting any object. | Right hand: transport: Right hand holds the wooden mallet and moves it horizontally rightward from above the wooden peg toy to the space above the black table to the right of the peg toy."}, {"label": "subtasks", "start_step": 802, "end_step": 817, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand does not appear in the visible operation area and remains stationary without contacting any object. | Right hand: place_release: Right hand lowers the wooden mallet onto the black table surface to the right of the peg toy, releases its grip on the mallet, and the mallet rests steadily on the table."}, {"label": "subtasks", "start_step": 818, "end_step": 884, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand does not appear in the visible operation area and remains stationary without contacting any object. | Right hand: retreat: Right hand stays empty and moves upward away from the placed wooden mallet, retreating toward the upper right of the frame."}, {"label": "home", "start_step": 853, "end_step": 1000, "id": "Xain4SFER9V2N3mnEeDTM"}, {"label": "subtasks", "start_step": 885, "end_step": 1000, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand does not appear in the visible operation area and remains stationary without contacting any object."}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 51, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand does not appear in the visible operation area and remains stationary without contacting any object. | Right hand: idle: Right hand remains empty with no obvious displacement, positioned at the top-right edge of the frame when visible."}, {"label": "subtasks", "start_step": 52, "end_step": 127, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand does not appear in the visible operation area and remains stationary without contacting any object. | Right hand: reach: Right hand moves down diagonally toward the wooden mallet with a yellow head on the right side of the black mat, fingers slightly open, and does not contact the mallet during this movement."}, {"label": "subtasks", "start_step": 128, "end_step": 224, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand does not appear in the visible operation area and remains stationary without contacting any object. | Right hand: grasp: Right hand contacts the wooden handle of the mallet, adjusts finger and wrist positions, and closes fingers around the handle to establish a grasp."}, {"label": "subtasks", "start_step": 225, "end_step": 277, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand does not appear in the visible operation area and remains stationary without contacting any object. | Right hand: grasp: Right hand adjusts its fingers around the wooden handle of the yellow-headed mallet resting on the black work surface to form a stable grip."}, {"label": "subtasks", "start_step": 278, "end_step": 321, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand does not appear in the visible operation area and remains stationary without contacting any object. | Right hand: lift: Right hand raises the grasped wooden mallet upward until the entire mallet is fully lifted clear of the black work surface."}, {"label": "subtasks", "start_step": 322, "end_step": 397, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand does not appear in the visible operation area and remains stationary without contacting any object. | Right hand: transport: Right hand carries the lifted wooden mallet horizontally left toward the light wooden peg board with green support posts."}, {"label": "subtasks", "start_step": 398, "end_step": 479, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand does not appear in the visible operation area and remains stationary without contacting any object. | Right hand: hold: Right hand holds the wooden mallet stationary above the wooden peg board, with no visible movement of the hand or mallet."}, {"label": "subtasks", "start_step": 480, "end_step": 749, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand does not appear in the visible operation area and remains stationary without contacting any object. | Right hand: other:tapping_with_mallet: Right hand grips the wooden mallet handle and makes small repeated vertical up-and-down movements to tap the wooden peg on the perforated wooden platform."}, {"label": "subtasks", "start_step": 750, "end_step": 801, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand does not appear in the visible operation area and remains stationary without contacting any object. | Right hand: transport: Right hand holds the wooden mallet and moves it horizontally rightward from above the wooden peg toy to the space above the black table to the right of the peg toy."}, {"label": "subtasks", "start_step": 802, "end_step": 817, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand does not appear in the visible operation area and remains stationary without contacting any object. | Right hand: place_release: Right hand lowers the wooden mallet onto the black table surface to the right of the peg toy, releases its grip on the mallet, and the mallet rests steadily on the table."}, {"label": "subtasks", "start_step": 818, "end_step": 884, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand does not appear in the visible operation area and remains stationary without contacting any object. | Right hand: retreat: Right hand stays empty and moves upward away from the placed wooden mallet, retreating toward the upper right of the frame."}, {"label": "subtasks", "start_step": 885, "end_step": 1000, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand does not appear in the visible operation area and remains stationary without contacting any object."}], "episode_index": 379} +{"source_uid": "5996749a9280fe75", "num_frames": 907, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Hammer_Nails_v2", "tags": {"task_name": "Hammer_Nails_v2", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "B", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 51, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains at the left edge of the frame, empty and stationary without participating in any operation. | Right hand: idle: Right hand stays at the top-right edge of the frame, empty and stationary without moving toward the target mallet."}, {"label": "valid", "start_step": 0, "end_step": 757, "id": "TBF4yqzBzlyoMqjOVkHVV"}, {"label": "subtasks", "start_step": 52, "end_step": 119, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains at the left edge of the frame, empty and stationary without participating in any operation. | Right hand: reach: Right hand moves downward from the top-right edge toward the wooden handle of the yellow mallet on the black work surface, remaining empty without contacting the mallet."}, {"label": "subtasks", "start_step": 120, "end_step": 224, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains at the left edge of the frame, empty and stationary without participating in any operation. | Right hand: grasp: Right hand makes contact with the wooden handle of the yellow mallet, fingers gradually close around the handle with minor positional adjustments to form a grip, the mallet remains supported by the black work surface."}, {"label": "subtasks", "start_step": 225, "end_step": 247, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains at the left edge of the frame, empty and stationary without participating in any operation. | Right hand: grasp: Right hand adjusts finger positions to close firmly around the wooden mallet handle, forming a stable grip while the mallet rests on the black work surface."}, {"label": "subtasks", "start_step": 248, "end_step": 269, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains at the left edge of the frame, empty and stationary without participating in any operation. | Right hand: lift: Right hand lifts the gripped mallet upward until the mallet's wooden handle fully loses contact with the black work surface."}, {"label": "subtasks", "start_step": 270, "end_step": 314, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains at the left edge of the frame, empty and stationary without participating in any operation. | Right hand: transport: Right hand moves the lifted mallet leftward across the work surface toward the wooden peg toy, positioning the yellow mallet head above the pegs."}, {"label": "subtasks", "start_step": 315, "end_step": 329, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains at the left edge of the frame, empty and stationary without participating in any operation. | Right hand: hold: Right hand holds the mallet steadily above the wooden peg toy without any visible movement of the hand or mallet."}, {"label": "subtasks", "start_step": 330, "end_step": 427, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains at the left edge of the frame, empty and stationary without participating in any operation. | Right hand: grasp: Right hand adjusts its grip on the wooden mallet handle, with fingers slightly moving to reposition and tighten contact with the handle."}, {"label": "subtasks", "start_step": 428, "end_step": 674, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains at the left edge of the frame, empty and stationary without participating in any operation. | Right hand: other:repeated_small_downward_tap: Right hand holds the wooden mallet and performs repeated small downward tapping motions on the peg inserted in the wooden perforated board, moving the mallet in short vertical up-and-down motions."}, {"label": "subtasks", "start_step": 675, "end_step": 711, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains at the left edge of the frame, empty and stationary without participating in any operation. | Right hand: transport: Right hand holds the wooden mallet, moving it rightward and slightly downward across the area beside the wooden peg toy toward the target placement position."}, {"label": "subtasks", "start_step": 712, "end_step": 741, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains at the left edge of the frame, empty and stationary without participating in any operation. | Right hand: place_release: Right hand lowers the wooden mallet to the black mat surface, adjusts the mallet to rest stably horizontally on the mat, with fingers opening to release contact with the mallet handle."}, {"label": "subtasks", "start_step": 742, "end_step": 779, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains at the left edge of the frame, empty and stationary without participating in any operation. | Right hand: retreat: Right hand moves in an empty state upward and rightward away from the placed mallet, retreating from the operation area."}, {"label": "home", "start_step": 758, "end_step": 906, "id": "iw0bgDvHycCJQvvH5XxmA"}, {"label": "subtasks", "start_step": 780, "end_step": 906, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains at the left edge of the frame, empty and stationary without participating in any operation."}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 51, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains at the left edge of the frame, empty and stationary without participating in any operation. | Right hand: idle: Right hand stays at the top-right edge of the frame, empty and stationary without moving toward the target mallet."}, {"label": "subtasks", "start_step": 52, "end_step": 119, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains at the left edge of the frame, empty and stationary without participating in any operation. | Right hand: reach: Right hand moves downward from the top-right edge toward the wooden handle of the yellow mallet on the black work surface, remaining empty without contacting the mallet."}, {"label": "subtasks", "start_step": 120, "end_step": 224, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains at the left edge of the frame, empty and stationary without participating in any operation. | Right hand: grasp: Right hand makes contact with the wooden handle of the yellow mallet, fingers gradually close around the handle with minor positional adjustments to form a grip, the mallet remains supported by the black work surface."}, {"label": "subtasks", "start_step": 225, "end_step": 247, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains at the left edge of the frame, empty and stationary without participating in any operation. | Right hand: grasp: Right hand adjusts finger positions to close firmly around the wooden mallet handle, forming a stable grip while the mallet rests on the black work surface."}, {"label": "subtasks", "start_step": 248, "end_step": 269, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains at the left edge of the frame, empty and stationary without participating in any operation. | Right hand: lift: Right hand lifts the gripped mallet upward until the mallet's wooden handle fully loses contact with the black work surface."}, {"label": "subtasks", "start_step": 270, "end_step": 314, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains at the left edge of the frame, empty and stationary without participating in any operation. | Right hand: transport: Right hand moves the lifted mallet leftward across the work surface toward the wooden peg toy, positioning the yellow mallet head above the pegs."}, {"label": "subtasks", "start_step": 315, "end_step": 329, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains at the left edge of the frame, empty and stationary without participating in any operation. | Right hand: hold: Right hand holds the mallet steadily above the wooden peg toy without any visible movement of the hand or mallet."}, {"label": "subtasks", "start_step": 330, "end_step": 427, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains at the left edge of the frame, empty and stationary without participating in any operation. | Right hand: grasp: Right hand adjusts its grip on the wooden mallet handle, with fingers slightly moving to reposition and tighten contact with the handle."}, {"label": "subtasks", "start_step": 428, "end_step": 674, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains at the left edge of the frame, empty and stationary without participating in any operation. | Right hand: other:repeated_small_downward_tap: Right hand holds the wooden mallet and performs repeated small downward tapping motions on the peg inserted in the wooden perforated board, moving the mallet in short vertical up-and-down motions."}, {"label": "subtasks", "start_step": 675, "end_step": 711, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains at the left edge of the frame, empty and stationary without participating in any operation. | Right hand: transport: Right hand holds the wooden mallet, moving it rightward and slightly downward across the area beside the wooden peg toy toward the target placement position."}, {"label": "subtasks", "start_step": 712, "end_step": 741, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains at the left edge of the frame, empty and stationary without participating in any operation. | Right hand: place_release: Right hand lowers the wooden mallet to the black mat surface, adjusts the mallet to rest stably horizontally on the mat, with fingers opening to release contact with the mallet handle."}, {"label": "subtasks", "start_step": 742, "end_step": 779, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains at the left edge of the frame, empty and stationary without participating in any operation. | Right hand: retreat: Right hand moves in an empty state upward and rightward away from the placed mallet, retreating from the operation area."}, {"label": "subtasks", "start_step": 780, "end_step": 906, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains at the left edge of the frame, empty and stationary without participating in any operation."}], "episode_index": 380} +{"source_uid": "f27d3236bf651a65", "num_frames": 926, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table.", "tags": {"task_name": "Hammer Nails", "task_instruction": "Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table.", "scene_description": "A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back.", "success_criteria": "Both nails are hammered down securely, and the hammer is placed back stably on the table.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 214, "id": "subtask-001", "text": "Pick up the hammer from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 215, "end_step": 424, "id": "subtask-002", "text": "Hammer down the first nail with the right hand. | Skill: press", "task_skill": "press", "atomic_action": []}, {"label": "subtasks", "start_step": 425, "end_step": 646, "id": "subtask-003", "text": "Hammer down the second nail with the right hand. | Skill: press", "task_skill": "press", "atomic_action": []}, {"label": "subtasks", "start_step": 647, "end_step": 733, "id": "subtask-004", "text": "Place the hammer back on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 214, "id": "subtask-001", "text": "Pick up the hammer from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 215, "end_step": 424, "id": "subtask-002", "text": "Hammer down the first nail with the right hand. | Skill: press", "task_skill": "press", "atomic_action": []}, {"label": "subtasks", "start_step": 425, "end_step": 646, "id": "subtask-003", "text": "Hammer down the second nail with the right hand. | Skill: press", "task_skill": "press", "atomic_action": []}, {"label": "subtasks", "start_step": 647, "end_step": 733, "id": "subtask-004", "text": "Place the hammer back on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData/Hammer_Nails_v2/season_POC22048_2026_05_22_10_21_37_train/POC22048_2026_05_22_20_20_31_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/hammer_nails/season_POC22048_2026_05_22_10_21_37_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 268, "v40_language_source": "previous_published_lerobot", "episode_index": 381} +{"source_uid": "e4f386df139855c0", "num_frames": 818, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table.", "tags": {"task_name": "Hammer Nails", "task_instruction": "Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table.", "scene_description": "A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back.", "success_criteria": "Both nails are hammered down securely, and the hammer is placed back stably on the table.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 213, "id": "subtask-001", "text": "Pick up the hammer from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 214, "end_step": 403, "id": "subtask-002", "text": "Hammer down the first nail with the right hand. | Skill: press", "task_skill": "press", "atomic_action": []}, {"label": "subtasks", "start_step": 404, "end_step": 533, "id": "subtask-003", "text": "Hammer down the second nail with the right hand. | Skill: press", "task_skill": "press", "atomic_action": []}, {"label": "subtasks", "start_step": 534, "end_step": 647, "id": "subtask-004", "text": "Place the hammer back 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"/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData/Hammer_Nails_v2/season_POC22048_2026_05_22_10_21_37_train/POC22048_2026_05_22_20_21_14_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/hammer_nails/season_POC22048_2026_05_22_10_21_37_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 269, "v40_language_source": "previous_published_lerobot", "episode_index": 382} +{"source_uid": "85f8b819e8c8e653", "num_frames": 883, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Hammer_Nails_v2", "tags": {"task_name": "Hammer_Nails_v2", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "B", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 111, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty and stationary at the left edge of the frame throughout the interval. | Right hand: reach: Right hand enters the frame from the top-right corner, moves downward with partially open fingers toward the wooden mallet on the right side of the black work surface, without contacting the mallet."}, {"label": "valid", "start_step": 0, "end_step": 734, "id": "8FqCYblykV_yxckjGRYVS"}, {"label": "subtasks", "start_step": 112, "end_step": 201, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and stationary at the left edge of the frame throughout the interval. | Right hand: grasp: Right hand contacts the wooden mallet handle, adjusts finger positions, and closes fingers around the handle to form a stable grasp, with the mallet resting on the black work surface."}, {"label": "subtasks", "start_step": 202, "end_step": 239, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary at the left edge of the frame throughout the interval. | Right hand: lift: Right hand holds the grasped wooden mallet and moves upward, with the mallet still partially supported by the black work surface at the end of the segment."}, {"label": "subtasks", "start_step": 240, "end_step": 254, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stationary at the left edge of the frame throughout the interval. | Right hand: grasp: Right hand adjusts its fingers around the wooden mallet handle to form a stable grasp, with the mallet resting on the black table surface."}, {"label": "subtasks", "start_step": 255, "end_step": 321, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and stationary at the left edge of the frame throughout the interval. | Right hand: lift_transport: Right hand lifts the grasped mallet completely off the black surface, moving it upward and leftward toward the wooden peg toy."}, {"label": "subtasks", "start_step": 322, "end_step": 367, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary at the left edge of the frame throughout the interval. | Right hand: hold: Right hand holds the wooden mallet steadily above the wooden peg toy without any visible movement."}, {"label": "subtasks", "start_step": 368, "end_step": 381, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary at the left edge of the frame throughout the interval. | Right hand: grasp: Right hand adjusts finger positions on the wooden mallet handle to establish a stable grip."}, {"label": "subtasks", "start_step": 382, "end_step": 397, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary at the left edge of the frame throughout the interval. | Right hand: lift: Right hand lifts the wooden mallet upward, raising the yellow mallet head completely away from the surface of the wooden peg board."}, {"label": "subtasks", "start_step": 398, "end_step": 441, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stationary at the left edge of the frame throughout the interval. | Right hand: transport_mate: Right hand moves the wooden mallet horizontally to position the yellow mallet head directly above the target peg, aligning the mallet vertically with the peg."}, {"label": "subtasks", "start_step": 442, "end_step": 599, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stationary at the left edge of the frame throughout the interval. | Right hand: press: Right hand presses the wooden mallet vertically downward, applying continuous force to push the yellow mallet head against the target peg on the wooden board."}, {"label": "subtasks", "start_step": 600, "end_step": 629, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stationary at the left edge of the frame throughout the interval. | Right hand: lift: Right hand firmly grasps the wooden mallet and lifts it upward, fully separating the mallet from the wooden peg board and the black table surface below."}, {"label": "subtasks", "start_step": 630, "end_step": 674, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and stationary at the left edge of the frame throughout the interval. | Right hand: transport: Right hand carries the lifted wooden mallet and moves it horizontally rightward across the black table to the right side of the peg board."}, {"label": "subtasks", "start_step": 675, "end_step": 697, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and stationary at the left edge of the frame throughout the interval. | Right hand: place: Right hand lowers the wooden mallet down to the right-side black table surface, adjusting the mallet to an upright position supported by the table."}, {"label": "subtasks", "start_step": 698, "end_step": 711, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary at the left edge of the frame throughout the interval. | Right hand: release: Right hand opens its fingers to release the wooden mallet, fully separating the hand from the mallet handle."}, {"label": "subtasks", "start_step": 712, "end_step": 734, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary at the left edge of the frame throughout the interval. | Right hand: idle: Right hand remains empty and stationary above the upright wooden mallet with no observable movement."}, {"label": "subtasks", "start_step": 735, "end_step": 779, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and stationary at the left edge of the frame throughout the interval. | Right hand: retreat: Right hand remains empty, moves upward continuously and exits the frame through the top-right edge."}, {"label": "home", "start_step": 735, "end_step": 882, "id": "eux-Q_F_RnTCPMGmQHqkl"}, {"label": "subtasks", "start_step": 780, "end_step": 869, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and stationary at the left edge of the frame throughout the interval."}, {"label": "subtasks", "start_step": 870, "end_step": 882, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary at the left edge of the frame throughout the interval. | Right hand: reach: Right hand enters the frame from the top-right corner, moves diagonally down-left toward the yellow mallet on the black work surface, and approaches the yellow cylindrical head of the mallet with slightly curved fingers."}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 111, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty and stationary at the left edge of the frame throughout the interval. | Right hand: reach: Right hand enters the frame from the top-right corner, moves downward with partially open fingers toward the wooden mallet on the right side of the black work surface, without contacting the mallet."}, {"label": "subtasks", "start_step": 112, "end_step": 201, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and stationary at the left edge of the frame throughout the interval. | Right hand: grasp: Right hand contacts the wooden mallet handle, adjusts finger positions, and closes fingers around the handle to form a stable grasp, with the mallet resting on the black work surface."}, {"label": "subtasks", "start_step": 202, "end_step": 239, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary at the left edge of the frame throughout the interval. | Right hand: lift: Right hand holds the grasped wooden mallet and moves upward, with the mallet still partially supported by the black work surface at the end of the segment."}, {"label": "subtasks", "start_step": 240, "end_step": 254, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stationary at the left edge of the frame throughout the interval. | Right hand: grasp: Right hand adjusts its fingers around the wooden mallet handle to form a stable grasp, with the mallet resting on the black table surface."}, {"label": "subtasks", "start_step": 255, "end_step": 321, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and stationary at the left edge of the frame throughout the interval. | Right hand: lift_transport: Right hand lifts the grasped mallet completely off the black surface, moving it upward and leftward toward the wooden peg toy."}, {"label": "subtasks", "start_step": 322, "end_step": 367, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary at the left edge of the frame throughout the interval. | Right hand: hold: Right hand holds the wooden mallet steadily above the wooden peg toy without any visible movement."}, {"label": "subtasks", "start_step": 368, "end_step": 381, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary at the left edge of the frame throughout the interval. | Right hand: grasp: Right hand adjusts finger positions on the wooden mallet handle to establish a stable grip."}, {"label": "subtasks", "start_step": 382, "end_step": 397, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary at the left edge of the frame throughout the interval. | Right hand: lift: Right hand lifts the wooden mallet upward, raising the yellow mallet head completely away from the surface of the wooden peg board."}, {"label": "subtasks", "start_step": 398, "end_step": 441, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stationary at the left edge of the frame throughout the interval. | Right hand: transport_mate: Right hand moves the wooden mallet horizontally to position the yellow mallet head directly above the target peg, aligning the mallet vertically with the peg."}, {"label": "subtasks", "start_step": 442, "end_step": 599, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stationary at the left edge of the frame throughout the interval. | Right hand: press: Right hand presses the wooden mallet vertically downward, applying continuous force to push the yellow mallet head against the target peg on the wooden board."}, {"label": "subtasks", "start_step": 600, "end_step": 629, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stationary at the left edge of the frame throughout the interval. | Right hand: lift: Right hand firmly grasps the wooden mallet and lifts it upward, fully separating the mallet from the wooden peg board and the black table surface below."}, {"label": "subtasks", "start_step": 630, "end_step": 674, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and stationary at the left edge of the frame throughout the interval. | Right hand: transport: Right hand carries the lifted wooden mallet and moves it horizontally rightward across the black table to the right side of the peg board."}, {"label": "subtasks", "start_step": 675, "end_step": 697, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and stationary at the left edge of the frame throughout the interval. | Right hand: place: Right hand lowers the wooden mallet down to the right-side black table surface, adjusting the mallet to an upright position supported by the table."}, {"label": "subtasks", "start_step": 698, "end_step": 711, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary at the left edge of the frame throughout the interval. | Right hand: release: Right hand opens its fingers to release the wooden mallet, fully separating the hand from the mallet handle."}, {"label": "subtasks", "start_step": 712, "end_step": 734, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary at the left edge of the frame throughout the interval. | Right hand: idle: Right hand remains empty and stationary above the upright wooden mallet with no observable movement."}, {"label": "subtasks", "start_step": 735, "end_step": 779, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and stationary at the left edge of the frame throughout the interval. | Right hand: retreat: Right hand remains empty, moves upward continuously and exits the frame through the top-right edge."}, {"label": "subtasks", "start_step": 780, "end_step": 869, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and stationary at the left edge of the frame throughout the interval."}, {"label": "subtasks", "start_step": 870, "end_step": 882, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary at the left edge of the frame throughout the interval. | Right hand: reach: Right hand enters the frame from the top-right corner, moves diagonally down-left toward the yellow mallet on the black work surface, and approaches the yellow cylindrical head of the mallet with slightly curved fingers."}], "episode_index": 383} +{"source_uid": "2d2adf058c1abb90", "num_frames": 926, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Hammer_Nails_v2", "tags": {"task_name": "Hammer_Nails_v2", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "B", "SOP": ""}, "segments": [{"label": "valid", "start_step": 0, "end_step": 776, "id": "qRZLL2JA2iMAeNipxP4uq"}, {"label": "subtasks", "start_step": 75, "end_step": 111, "id": "reasoning-language-00001", "text": "Right hand: reach: Right hand moves left from the right edge of the frame toward the wooden handle of the yellow hammer, without contacting the hammer."}, {"label": "subtasks", "start_step": 112, "end_step": 209, "id": "reasoning-language-00002", "text": "Right hand: grasp: Right hand touches the wooden handle of the yellow hammer, and adjusts its fingers to form a stable grasp on the handle."}, {"label": "subtasks", "start_step": 210, "end_step": 247, "id": "reasoning-language-00003", "text": "Right hand: grasp: Right hand adjusts its fingers to form a stable grasp on the yellow hammer with wooden handle placed on the black mat."}, {"label": "subtasks", "start_step": 248, "end_step": 261, "id": "reasoning-language-00004", "text": "Right hand: lift: Right hand lifts the yellow hammer up to make it completely leave the black mat surface."}, {"label": "subtasks", "start_step": 262, "end_step": 314, "id": "reasoning-language-00005", "text": "Right hand: transport: Right hand transports the yellow hammer leftwards to the position above the red peg on the wooden board."}, {"label": "subtasks", "start_step": 315, "end_step": 359, "id": "reasoning-language-00006", "text": "Right hand: press: Right hand presses the red peg on the wooden board with the yellow hammer."}, {"label": "subtasks", "start_step": 360, "end_step": 441, "id": "reasoning-language-00007", "text": "Right hand: hold: Right hand holds the yellow hammer stationary above the wooden board."}, {"label": "subtasks", "start_step": 442, "end_step": 509, "id": "reasoning-language-00008", "text": "Right hand: press: Right hand presses the red peg on the wooden board with the yellow hammer."}, {"label": "subtasks", "start_step": 510, "end_step": 591, "id": "reasoning-language-00009", "text": "Right hand: hold: Right hand holds the yellow hammer stationary above the wooden board."}, {"label": "subtasks", "start_step": 592, "end_step": 651, "id": "reasoning-language-00010", "text": "Right hand: press: Right hand presses the red peg on the wooden board with the yellow hammer."}, {"label": "subtasks", "start_step": 652, "end_step": 674, "id": "reasoning-language-00011", "text": "Right hand: transport: Right hand moves the yellow hammer away from the wooden board."}, {"label": "subtasks", "start_step": 675, "end_step": 741, "id": "reasoning-language-00012", "text": "Right hand: transport: Right hand transports the yellow hammer with wooden handle towards the right side of the black mat."}, {"label": "subtasks", "start_step": 742, "end_step": 757, "id": "reasoning-language-00013", "text": "Right hand: place_release: Right hand places the yellow hammer on the right side of the black mat and releases the grip of the hammer handle."}, {"label": "subtasks", "start_step": 758, "end_step": 764, "id": "reasoning-language-00014", "text": "Right hand: retreat: Right hand retreats away from the placed yellow hammer."}, {"label": "home", "start_step": 777, "end_step": 925, "id": "3amNSVRl6rId8ljz28WdA"}], "language_segments": [{"label": "subtasks", "start_step": 75, "end_step": 111, "id": "reasoning-language-00001", "text": "Right hand: reach: Right hand moves left from the right edge of the frame toward the wooden handle of the yellow hammer, without contacting the hammer."}, {"label": "subtasks", "start_step": 112, "end_step": 209, "id": "reasoning-language-00002", "text": "Right hand: grasp: Right hand touches the wooden handle of the yellow hammer, and adjusts its fingers to form a stable grasp on the handle."}, {"label": "subtasks", "start_step": 210, "end_step": 247, "id": "reasoning-language-00003", "text": "Right hand: grasp: Right hand adjusts its fingers to form a stable grasp on the yellow hammer with wooden handle placed on the black mat."}, {"label": "subtasks", "start_step": 248, "end_step": 261, "id": "reasoning-language-00004", "text": "Right hand: lift: Right hand lifts the yellow hammer up to make it completely leave the black mat surface."}, {"label": "subtasks", "start_step": 262, "end_step": 314, "id": "reasoning-language-00005", "text": "Right hand: transport: Right hand transports the yellow 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"text": "Right hand: hold: Right hand holds the yellow-headed mallet steady above the red peg on the wooden peg board without moving."}, {"label": "subtasks", "start_step": 532, "end_step": 591, "id": "reasoning-language-00012", "text": "Right hand: grasp: Right hand adjusts its grasp on the wooden handle of the yellow-headed mallet while the mallet remains above the red peg."}, {"label": "subtasks", "start_step": 592, "end_step": 629, "id": "reasoning-language-00013", "text": "Right hand: hold: Right hand holds the yellow-headed mallet steady above the red peg on the wooden peg board without moving."}, {"label": "subtasks", "start_step": 630, "end_step": 659, "id": "reasoning-language-00014", "text": "Right hand: transport: Right hand moves the yellow-headed mallet rightward away from the position above the red peg."}, {"label": "subtasks", "start_step": 660, "end_step": 704, "id": "reasoning-language-00015", "text": "Right hand: pull: Right hand pulls the yellow-headed mallet 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"reasoning-language-00018", "text": "Right hand: retreat: Right hand, which is empty, moves up-right toward the right edge of the frame and exits the frame."}], "episode_index": 392} +{"source_uid": "bf442d70c919895c", "num_frames": 857, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Hammer_Nails_v2", "tags": {"task_name": "Hammer_Nails_v2", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "B", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 59, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the far left edge of the frame without any observable movement or contact with other objects. | Right hand: idle: Right hand remains empty at the far upper right edge of the frame without any observable movement."}, {"label": "valid", "start_step": 0, "end_step": 708, "id": "QB56m7edWB_CHGtpHSki_"}, {"label": "subtasks", "start_step": 60, "end_step": 119, "id": 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"reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the far left edge of the frame without any observable movement or contact with other objects. | Right hand: reorient: Right hand rotates the wooden hammer slightly to a vertical orientation and makes small positional adjustments to align the yellow hammer head over the red peg on the wooden board."}, {"label": "subtasks", "start_step": 480, "end_step": 614, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the far left edge of the frame without any observable movement or contact with other objects. | Right hand: hold: Right hand holds the aligned wooden hammer steadily over the red peg without visible movement."}, {"label": "subtasks", "start_step": 615, "end_step": 637, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the far left edge of the frame without any observable movement or contact with other objects. | Right hand: lift: 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"reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the far left edge of the frame without any observable movement or contact with other objects. | Right hand: retreat: Empty right hand moves upward and away from the released hammer toward the upper right of the frame."}, {"label": "subtasks", "start_step": 705, "end_step": 854, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the far left edge of the frame without any observable movement or contact with other objects."}, {"label": "home", "start_step": 709, "end_step": 856, "id": "XPI87aNxYr0CdBXjtEfgX"}, {"label": "subtasks", "start_step": 855, "end_step": 856, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the far left edge of the frame without any observable movement or contact with other objects. | Right hand: reach: Right hand is empty, enters the frame from the top right edge, and moves downward toward the black work surface without contacting any object."}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 59, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the far left edge of the frame without any observable movement or contact with other objects. | Right hand: idle: Right hand remains empty at the far upper right edge of the frame without any observable movement."}, {"label": "subtasks", "start_step": 60, "end_step": 119, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the far left edge of the frame without any observable movement or contact with other objects. | Right hand: reach: Right hand moves diagonally down and left toward the wooden handle of the yellow mallet on the black mat, making no contact with the mallet throughout the movement."}, {"label": "subtasks", "start_step": 120, "end_step": 194, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the far left edge of the frame without any observable movement or contact with other objects. | Right hand: grasp_lift: Right hand closes fingers around the wooden handle of the yellow mallet to form a stable grasp, beginning to lift the mallet slightly while the yellow mallet head remains in contact with the black supporting mat."}, {"label": "subtasks", "start_step": 195, "end_step": 209, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the far left edge of the frame without any observable movement or contact with other objects. | Right hand: hold: Right hand holds the wooden hammer resting on the black work surface without moving."}, {"label": "subtasks", "start_step": 210, "end_step": 239, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the far left edge of the frame without any observable movement or contact with other objects. | Right hand: lift: Right hand lifts the grasped wooden hammer upward until the hammer fully separates from the black work surface."}, {"label": "subtasks", "start_step": 240, "end_step": 299, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the far left edge of the frame without any observable movement or contact with other objects. | Right hand: transport: Right hand carries the lifted wooden hammer leftward toward the area above the wooden peg board."}, {"label": "subtasks", "start_step": 300, "end_step": 479, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the far left edge of the frame without any observable movement or contact with other objects. | Right hand: reorient: Right hand rotates the wooden hammer slightly to a vertical orientation and makes small positional adjustments to align the yellow hammer head over the red peg on the wooden board."}, {"label": "subtasks", "start_step": 480, "end_step": 614, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the far left edge of the frame without any observable movement or contact with other objects. | Right hand: hold: Right hand holds the aligned wooden hammer steadily over the red peg without visible movement."}, {"label": "subtasks", "start_step": 615, "end_step": 637, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the far left edge of the frame without any observable movement or contact with other objects. | Right hand: lift: Right hand grips the light wooden handle of the hammer, lifting the hammer upward until it fully separates from the wooden peg board."}, {"label": "subtasks", "start_step": 638, "end_step": 667, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the far left edge of the frame without any observable movement or contact with other objects. | Right hand: transport: Right hand carries the lifted hammer, moving it horizontally rightward through the air above the black textured work surface."}, {"label": "subtasks", "start_step": 668, "end_step": 681, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the far left edge of the frame without any observable movement or contact with other objects. | Right hand: place_release: Right hand moves the hammer downward toward the black work surface, opening its fingers to release the hammer from its grip."}, {"label": "subtasks", "start_step": 682, "end_step": 704, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the far left edge of the frame without any observable movement or contact with other objects. | Right hand: retreat: Empty right hand moves upward and away from the released hammer toward the upper right of the frame."}, {"label": "subtasks", "start_step": 705, "end_step": 854, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the far left edge of the frame without any observable movement or contact with other objects."}, {"label": "subtasks", "start_step": 855, "end_step": 856, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the far left edge of the frame without any observable movement or contact with other objects. | Right hand: reach: Right hand is empty, enters the frame from the top right edge, and moves downward toward the black work surface without contacting any object."}], "episode_index": 393} +{"source_uid": "9a5bb65618fd9e27", "num_frames": 793, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. 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The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back.", "success_criteria": "Both nails are hammered down securely, and the hammer is placed back stably on the table.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 192, "id": "subtask-001", "text": "Pick up the hammer from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 193, "end_step": 321, "id": "subtask-002", "text": "Hammer down the first nail with the right hand. | Skill: press", "task_skill": "press", "atomic_action": []}, {"label": "subtasks", "start_step": 322, "end_step": 417, "id": "subtask-003", "text": "Hammer down the second nail with the right hand. | Skill: press", "task_skill": "press", "atomic_action": []}, {"label": "subtasks", "start_step": 418, "end_step": 528, "id": "subtask-004", "text": "Place the hammer back on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 192, "id": "subtask-001", "text": "Pick up the hammer from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 193, "end_step": 321, "id": "subtask-002", "text": "Hammer down the first nail with the right hand. | Skill: press", "task_skill": "press", "atomic_action": []}, {"label": "subtasks", "start_step": 322, "end_step": 417, "id": "subtask-003", "text": "Hammer down the second nail with the right hand. | Skill: press", "task_skill": "press", "atomic_action": []}, {"label": "subtasks", "start_step": 418, "end_step": 528, "id": "subtask-004", "text": "Place the hammer back on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData/Hammer_Nails_v2/season_POC22048_2026_05_22_10_21_37_train/POC22048_2026_05_22_21_18_37_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/hammer_nails/season_POC22048_2026_05_22_10_21_37_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 306, "v40_language_source": "previous_published_lerobot", "episode_index": 431} +{"source_uid": "e14622c31906e81d", "num_frames": 792, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Hammer_Nails_v2", "tags": {"task_name": "Hammer_Nails_v2", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "B", "SOP": ""}, "segments": [{"label": "valid", "start_step": 0, "end_step": 642, "id": "DBTWNfpXrpZfADgBAyG7U"}, {"label": "subtasks", "start_step": 15, "end_step": 149, "id": "reasoning-language-00001", "text": "Right hand: reach_grasp: Right hand moves leftward from the right edge of the frame toward the yellow hammer with wooden handle on the black mat and makes contact with the hammer handle to start grasping."}, {"label": "subtasks", "start_step": 150, "end_step": 209, "id": "reasoning-language-00002", "text": "Right hand: grasp: Right hand adjusts its fingers to stably grasp the wooden handle of the yellow mallet on the black mat."}, {"label": "subtasks", "start_step": 210, "end_step": 284, "id": "reasoning-language-00003", "text": "Right hand: lift_transport: Right hand lifts the yellow mallet off the black mat and moves it leftward towards the wooden peg board."}, {"label": "subtasks", "start_step": 285, "end_step": 397, "id": "reasoning-language-00004", "text": "Right hand: grasp: Right hand adjusts its fingers to stably grasp the wooden handle of the yellow mallet."}, {"label": "subtasks", "start_step": 398, "end_step": 524, "id": "reasoning-language-00005", "text": "Right hand: press: Right hand presses the yellow mallet downwards against the green peg on the wooden board to push the peg into the board."}, {"label": "subtasks", "start_step": 525, "end_step": 539, "id": "reasoning-language-00006", "text": "Right hand: lift: Right hand lifts the yellow mallet upwards away from the wooden board."}, {"label": "subtasks", "start_step": 540, "end_step": 599, "id": "reasoning-language-00007", "text": "Right hand: transport: Right hand holds the yellow mallet and moves it rightward above the black table."}, {"label": "subtasks", "start_step": 600, "end_step": 614, "id": "reasoning-language-00008", "text": "Right hand: place: Right hand places the yellow mallet onto the black table surface."}, {"label": "subtasks", "start_step": 615, "end_step": 629, "id": "reasoning-language-00009", "text": "Right hand: release: Right hand releases the yellow mallet with fingers opening."}, {"label": "home", "start_step": 643, "end_step": 791, "id": "NUqTGoHWtSg2pFR-gxmSh"}, {"label": "subtasks", "start_step": 780, "end_step": 791, "id": "reasoning-language-00010", "text": "Right hand: reach: Right hand enters from the right edge of the frame and moves towards the yellow mallet on the black mat."}], "language_segments": [{"label": "subtasks", "start_step": 15, "end_step": 149, "id": "reasoning-language-00001", "text": "Right hand: reach_grasp: Right hand moves leftward from the right edge of the frame toward the yellow hammer with wooden handle on the black mat and makes contact with the hammer handle to start grasping."}, {"label": "subtasks", "start_step": 150, "end_step": 209, "id": "reasoning-language-00002", "text": "Right hand: grasp: Right hand adjusts its fingers to stably grasp the wooden handle of the yellow mallet on the black mat."}, {"label": "subtasks", "start_step": 210, "end_step": 284, "id": "reasoning-language-00003", "text": "Right hand: lift_transport: Right hand lifts the yellow mallet off the black mat and moves it leftward towards the wooden peg board."}, {"label": "subtasks", "start_step": 285, "end_step": 397, "id": "reasoning-language-00004", "text": "Right hand: grasp: Right hand adjusts its fingers to stably grasp the wooden handle of the yellow mallet."}, {"label": "subtasks", "start_step": 398, "end_step": 524, "id": "reasoning-language-00005", "text": "Right hand: press: Right hand presses the yellow mallet downwards against the green peg on the wooden board to push the peg into the board."}, {"label": "subtasks", "start_step": 525, "end_step": 539, "id": "reasoning-language-00006", "text": "Right hand: lift: Right hand lifts the yellow mallet upwards away from the wooden board."}, {"label": "subtasks", "start_step": 540, "end_step": 599, "id": "reasoning-language-00007", "text": "Right hand: transport: Right hand holds the yellow mallet and moves it rightward above the black table."}, {"label": "subtasks", "start_step": 600, "end_step": 614, "id": "reasoning-language-00008", "text": "Right hand: place: Right hand places the yellow mallet onto the black table surface."}, {"label": "subtasks", "start_step": 615, "end_step": 629, "id": "reasoning-language-00009", "text": "Right hand: release: Right hand releases the yellow mallet with fingers opening."}, {"label": "subtasks", "start_step": 780, "end_step": 791, "id": "reasoning-language-00010", "text": "Right hand: reach: Right hand enters from the right edge of the frame and moves towards the yellow mallet on the black mat."}], "episode_index": 432} +{"source_uid": "be0e4c08a0b9420f", "num_frames": 995, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Hammer_Nails_v2", "tags": {"task_name": "Hammer_Nails_v2", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "B", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 74, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame, with only its silver fingertips visible and no observable movement throughout the segment. | Right hand: idle: Right hand remains empty at the top-right edge of the frame without observable movement."}, {"label": "valid", "start_step": 0, "end_step": 845, "id": "bdw_NS96QvM_OlhnfBdj0"}, {"label": "subtasks", "start_step": 75, "end_step": 149, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame, with only its silver fingertips visible and no observable movement throughout the segment. | Right hand: reach: Right hand moves down and left from the top-right edge with an open hand, approaching the wooden handle of the yellow hammer placed on the black work surface."}, {"label": "subtasks", "start_step": 150, "end_step": 224, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame, with only its silver fingertips visible and no observable movement throughout the segment. | Right hand: grasp: Right hand closes fingers around the wooden handle of the yellow hammer, adjusting finger positions to establish a stable grip on the handle."}, {"label": "subtasks", "start_step": 225, "end_step": 254, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame, with only its silver fingertips visible and no observable movement throughout the segment. | Right hand: lift: Right hand lifts the grasped yellow hammer upward until the entire hammer is completely lifted off the black supporting surface."}, {"label": "subtasks", "start_step": 255, "end_step": 359, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame, with only its silver fingertips visible and no observable movement throughout the segment. | Right hand: transport: Right hand carries the grasped yellow hammer left and upward through the air, moving it to the position above the red peg on the wooden peg toy."}, {"label": "subtasks", "start_step": 360, "end_step": 411, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame, with only its silver fingertips visible and no observable movement throughout the segment. | Right hand: grasp: Right hand adjusts its fingers around the wooden handle of the yellow hammer to form a stable grip."}, {"label": "subtasks", "start_step": 412, "end_step": 749, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame, with only its silver fingertips visible and no observable movement throughout the segment. | Right hand: other:repeated_small_up_and_down_movement: Right hand holds the yellow hammer and makes repeated small vertical up-and-down movements over the wooden platform."}, {"label": "subtasks", "start_step": 750, "end_step": 794, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame, with only its silver fingertips visible and no observable movement throughout the segment. | Right hand: lift_transport: Right hand grips the wooden hammer handle, lifts the hammer fully off the wooden toy assembly, and carries the hammer horizontally rightward through the air toward the black mat to the right of the toy."}, {"label": "subtasks", "start_step": 795, "end_step": 824, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame, with only its silver fingertips visible and no observable movement throughout the segment. | Right hand: place_release: Right hand lowers the wooden hammer onto the black mat surface until the hammer rests stably on the mat, with fingers opening to release contact with the hammer handle as the hammer settles."}, {"label": "subtasks", "start_step": 825, "end_step": 839, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame, with only its silver fingertips visible and no observable movement throughout the segment. | Right hand: retreat: Empty right hand moves upward and away from the placed wooden hammer."}, {"label": "subtasks", "start_step": 840, "end_step": 989, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame, with only its silver fingertips visible and no observable movement throughout the segment."}, {"label": "home", "start_step": 846, "end_step": 994, "id": "7jw1ymVz88XdvRuM2Vcs2"}, {"label": "subtasks", "start_step": 990, "end_step": 994, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame, with only its silver fingertips visible and no observable movement throughout the segment. | Right hand: reach: Right hand enters the frame from the top-right edge and moves downward toward the yellow mallet on the black work surface."}], "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 edge of the frame, with only its silver fingertips visible and no observable movement throughout the segment. | Right hand: idle: Right hand remains empty at the top-right edge of the frame without observable movement."}, {"label": "subtasks", "start_step": 75, "end_step": 149, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame, with only its silver fingertips visible and no observable movement throughout the segment. | Right hand: reach: Right hand moves down and left from the top-right edge with an open hand, approaching the wooden handle of the yellow hammer placed on the black work surface."}, {"label": "subtasks", "start_step": 150, "end_step": 224, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame, with only its silver fingertips visible and no observable movement throughout the segment. | Right hand: grasp: Right hand closes fingers around the wooden handle of the yellow hammer, adjusting finger positions to establish a stable grip on the handle."}, {"label": "subtasks", "start_step": 225, "end_step": 254, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame, with only its silver fingertips visible and no observable movement throughout the segment. | Right hand: lift: Right hand lifts the grasped yellow hammer upward until the entire hammer is completely lifted off the black supporting surface."}, {"label": "subtasks", "start_step": 255, "end_step": 359, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame, with only its silver fingertips visible and no observable movement throughout the segment. | Right hand: transport: Right hand carries the grasped yellow hammer left and upward through the air, moving it to the position above the red peg on the wooden peg toy."}, {"label": "subtasks", "start_step": 360, "end_step": 411, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame, with only its silver fingertips visible and no observable movement throughout the segment. | Right hand: grasp: Right hand adjusts its fingers around the wooden handle of the yellow hammer to form a stable grip."}, {"label": "subtasks", "start_step": 412, "end_step": 749, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame, with only its silver fingertips visible and no observable movement throughout the segment. | Right hand: other:repeated_small_up_and_down_movement: Right hand holds the yellow hammer and makes repeated small vertical up-and-down movements over the wooden platform."}, {"label": "subtasks", "start_step": 750, "end_step": 794, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame, with only its silver fingertips visible and no observable movement throughout the segment. | Right hand: lift_transport: Right hand grips the wooden hammer handle, lifts the hammer fully off the wooden toy assembly, and carries the hammer horizontally rightward through the air toward the black mat to the right of the toy."}, {"label": "subtasks", "start_step": 795, "end_step": 824, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame, with only its silver fingertips visible and no observable movement throughout the segment. | Right hand: place_release: Right hand lowers the wooden hammer onto the black mat surface until the hammer rests stably on the mat, with fingers opening to release contact with the hammer handle as the hammer settles."}, {"label": "subtasks", "start_step": 825, "end_step": 839, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame, with only its silver fingertips visible and no observable movement throughout the segment. | Right hand: retreat: Empty right hand moves upward and away from the placed wooden hammer."}, {"label": "subtasks", "start_step": 840, "end_step": 989, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame, with only its silver fingertips visible and no observable movement throughout the segment."}, {"label": "subtasks", "start_step": 990, "end_step": 994, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame, with only its silver fingertips visible and no observable movement throughout the segment. | Right hand: reach: Right hand enters the frame from the top-right edge and moves downward toward the yellow mallet on the black work surface."}], "episode_index": 433} +{"source_uid": "358c7d8f41b486ed", "num_frames": 837, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Hammer_Nails_v2", "tags": {"task_name": "Hammer_Nails_v2", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "B", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 119, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains partially visible at the far left edge of the frame, empty and stationary without contacting any operated object. | Right hand: reach: Right hand moves downward from the top-right edge of the frame toward the wooden handle of the yellow mallet, with fingers held slightly open, remaining empty and not making contact with the mallet."}, {"label": "valid", "start_step": 0, "end_step": 686, "id": "1GJ6mZDysjhMQvsfnt25I"}, {"label": "subtasks", "start_step": 120, "end_step": 187, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains partially visible at the far left edge of the frame, empty and stationary without contacting any operated object. | Right hand: grasp: Right hand makes contact with the wooden handle of the yellow mallet, closing fingers around the handle and making small adjustments to finger positions to form a stable grip, with the mallet still resting on the black work surface."}, {"label": "subtasks", "start_step": 188, "end_step": 209, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains partially visible at the far left edge of the frame, empty and stationary without contacting any operated object. | Right hand: hold: Right hand holds the wooden handle of the yellow mallet in a stable grip, with no visible movement of the hand, fingers, or mallet, and the mallet remaining supported by the black work surface."}, {"label": "subtasks", "start_step": 210, "end_step": 291, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains partially visible at the far left edge of the frame, empty and stationary without contacting any operated object. | Right hand: lift_transport: Right hand firmly grips the wooden handle of the yellow-headed mallet, lifts the mallet completely off the black work surface, and moves it leftward toward the central wooden peg board."}, {"label": "subtasks", "start_step": 292, "end_step": 314, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains partially visible at the far left edge of the frame, empty and stationary without contacting any operated object. | Right hand: hold: Right hand holds the yellow-headed mallet steady above the wooden peg board, with no observable movement of the hand, fingers or the mallet."}, {"label": "subtasks", "start_step": 315, "end_step": 411, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains partially visible at the far left edge of the frame, empty and stationary without contacting any operated object. | Right hand: grasp: Right hand adjusts finger positions and tightens contact around the wooden mallet handle to establish a stable grip on the mallet resting on the wooden peg board."}, {"label": "subtasks", "start_step": 412, "end_step": 441, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains partially visible at the far left edge of the frame, empty and stationary without contacting any operated object. | Right hand: lift: Right hand lifts the grasped wooden mallet upward, raising the yellow mallet head completely off the green peg on the wooden board."}, {"label": "subtasks", "start_step": 442, "end_step": 569, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains partially visible at the far left edge of the frame, empty and stationary without contacting any operated object. | Right hand: transport_press: Right hand moves the grasped wooden mallet downward toward the green peg, applying downward pressure on the peg with the yellow mallet head upon contact."}, {"label": "subtasks", "start_step": 570, "end_step": 584, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains partially visible at the far left edge of the frame, empty and stationary without contacting any operated object. | Right hand: lift: Right hand grips the wooden mallet and lifts it upward until the mallet is fully separated from the wooden toy base."}, {"label": "subtasks", "start_step": 585, "end_step": 607, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains partially visible at the far left edge of the frame, empty and stationary without contacting any operated object. | Right hand: transport: Right hand carries the lifted wooden mallet horizontally rightward to the position above the right section of the black table surface."}, {"label": "subtasks", "start_step": 608, "end_step": 644, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains partially visible at the far left edge of the frame, empty and stationary without contacting any operated object. | Right hand: place: Right hand lowers the wooden mallet downward to place it on the black table surface, until the mallet is stably supported by the table."}, {"label": "subtasks", "start_step": 645, "end_step": 659, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains partially visible at the far left edge of the frame, empty and stationary without contacting any operated object. | Right hand: release: Right hand opens its fingers to release the wooden mallet resting on the table, separating the hand from the mallet surface."}, {"label": "subtasks", "start_step": 660, "end_step": 704, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains partially visible at the far left edge of the frame, empty and stationary without contacting any operated object. | Right hand: release_retreat: Right hand releases the wooden mallet handle and moves upward toward the top-right edge of the frame."}, {"label": "home", "start_step": 687, "end_step": 836, "id": "x_kQCmzf1LQIelEpZdomJ"}, {"label": "subtasks", "start_step": 705, "end_step": 824, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains partially visible at the far left edge of the frame, empty and stationary without contacting any operated object. | Right hand: idle: Right hand remains empty and stationary after exiting the top-right edge of the visible frame."}, {"label": "subtasks", "start_step": 825, "end_step": 836, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains partially visible at the far left edge of the frame, empty and stationary without contacting any operated object. | Right hand: reach: Right hand enters the frame from the top-right edge, moving downward toward the yellow wooden mallet with an open hand."}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 119, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains partially visible at the far left edge of the frame, empty and stationary without contacting any operated object. | Right hand: reach: Right hand moves downward from the top-right edge of the frame toward the wooden handle of the yellow mallet, with fingers held slightly open, remaining empty and not making contact with the mallet."}, {"label": "subtasks", "start_step": 120, "end_step": 187, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains partially visible at the far left edge of the frame, empty and stationary without contacting any operated object. | Right hand: grasp: Right hand makes contact with the wooden handle of the yellow mallet, closing fingers around the handle and making small adjustments to finger positions to form a stable grip, with the mallet still resting on the black work surface."}, {"label": "subtasks", "start_step": 188, "end_step": 209, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains partially visible at the far left edge of the frame, empty and stationary without contacting any operated object. | Right hand: hold: Right hand holds the wooden handle of the yellow mallet in a stable grip, with no visible movement of the hand, fingers, or mallet, and the mallet remaining supported by the black work surface."}, {"label": "subtasks", "start_step": 210, "end_step": 291, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains partially visible at the far left edge of the frame, empty and stationary without contacting any operated object. | Right hand: lift_transport: Right hand firmly grips the wooden handle of the yellow-headed mallet, lifts the mallet completely off the black work surface, and moves it leftward toward the central wooden peg board."}, {"label": "subtasks", "start_step": 292, "end_step": 314, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains partially visible at the far left edge of the frame, empty and stationary without contacting any operated object. | Right hand: hold: Right hand holds the yellow-headed mallet steady above the wooden peg board, with no observable movement of the hand, fingers or the mallet."}, {"label": "subtasks", "start_step": 315, "end_step": 411, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains partially visible at the far left edge of the frame, empty and stationary without contacting any operated object. | Right hand: grasp: Right hand adjusts finger positions and tightens contact around the wooden mallet handle to establish a stable grip on the mallet resting on the wooden peg board."}, {"label": "subtasks", "start_step": 412, "end_step": 441, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains partially visible at the far left edge of the frame, empty and stationary without contacting any operated object. | Right hand: lift: Right hand lifts the grasped wooden mallet upward, raising the yellow mallet head completely off the green peg on the wooden board."}, {"label": "subtasks", "start_step": 442, "end_step": 569, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains partially visible at the far left edge of the frame, empty and stationary without contacting any operated object. | Right hand: transport_press: Right hand moves the grasped wooden mallet downward toward the green peg, applying downward pressure on the peg with the yellow mallet head upon contact."}, {"label": "subtasks", "start_step": 570, "end_step": 584, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains partially visible at the far left edge of the frame, empty and stationary without contacting any operated object. | Right hand: lift: Right hand grips the wooden mallet and lifts it upward until the mallet is fully separated from the wooden toy base."}, {"label": "subtasks", "start_step": 585, "end_step": 607, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains partially visible at the far left edge of the frame, empty and stationary without contacting any operated object. | Right hand: transport: Right hand carries the lifted wooden mallet horizontally rightward to the position above the right section of the black table surface."}, {"label": "subtasks", "start_step": 608, "end_step": 644, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains partially visible at the far left edge of the frame, empty and stationary without contacting any operated object. | Right hand: place: Right hand lowers the wooden mallet downward to place it on the black table surface, until the mallet is stably supported by the table."}, {"label": "subtasks", "start_step": 645, "end_step": 659, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains partially visible at the far left edge of the frame, empty and stationary without contacting any operated object. | Right hand: release: Right hand opens its fingers to release the wooden mallet resting on the table, separating the hand from the mallet surface."}, {"label": "subtasks", "start_step": 660, "end_step": 704, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains partially visible at the far left edge of the frame, empty and stationary without contacting any operated object. | Right hand: release_retreat: Right hand releases the wooden mallet handle and moves upward toward the top-right edge of the frame."}, {"label": "subtasks", "start_step": 705, "end_step": 824, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains partially visible at the far left edge of the frame, empty and stationary without contacting any operated object. | Right hand: idle: Right hand remains empty and stationary after exiting the top-right edge of the visible frame."}, {"label": "subtasks", "start_step": 825, "end_step": 836, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains partially visible at the far left edge of the frame, empty and stationary without contacting any operated object. | Right hand: reach: Right hand enters the frame from the top-right edge, moving downward toward the yellow wooden mallet with an open hand."}], "episode_index": 434} +{"source_uid": "d1046c0146c26be9", "num_frames": 828, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. 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upward and forward to align the mallet head directly over the red peg on the wooden toy base."}, {"label": "subtasks", "start_step": 420, "end_step": 441, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without observable movement. | Right hand: hold: Right hand holds the wooden mallet completely stationary with the mallet head positioned above the red peg."}, {"label": "subtasks", "start_step": 442, "end_step": 471, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without observable movement. | Right hand: press: Right hand moves the wooden mallet vertically downward, pressing the mallet head against the red peg to push it partially into the wooden toy base."}, {"label": "subtasks", "start_step": 472, "end_step": 494, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without observable 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movement."}, {"label": "subtasks", "start_step": 60, "end_step": 119, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without observable movement. | Right hand: reach: Right hand moves downward toward the wooden handle of the yellow hammer, remaining empty as it approaches the target."}, {"label": "subtasks", "start_step": 120, "end_step": 179, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without observable movement. | Right hand: grasp: Right hand closes fingers around the wooden handle of the yellow hammer, adjusting finger positions to establish a grip on the handle."}, {"label": "subtasks", "start_step": 180, "end_step": 224, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left edge of the frame without observable movement. | Right hand: grasp: Right hand adjusts its fingers to close around the wooden 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Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table.", "tags": {"task_name": "Hammer Nails", "task_instruction": "Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table.", "scene_description": "A hammer and two nails are placed on the table. 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Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table.", "tags": {"task_name": "Hammer Nails", "task_instruction": "Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table.", "scene_description": "A hammer and two nails are placed on the table. 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"/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData/Hammer_Nails_v2/season_POC22048_2026_05_22_10_21_37_train/POC22048_2026_05_22_21_44_11_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/hammer_nails/season_POC22048_2026_05_22_10_21_37_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 326, "v40_language_source": "previous_published_lerobot", "episode_index": 458} +{"source_uid": "fcf357927610470d", "num_frames": 969, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Hammer_Nails_v2", "tags": {"task_name": "Hammer_Nails_v2", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "B", "SOP": ""}, "segments": [{"label": "valid", "start_step": 0, "end_step": 820, "id": "gc_C9_t2FdRAos--9AEaB"}, {"label": "subtasks", "start_step": 15, "end_step": 111, "id": "reasoning-language-00001", "text": "Right hand: reach: Right hand moves downward and left from the top right of the frame towards the yellow hammer on the black mat."}, {"label": "subtasks", "start_step": 112, "end_step": 284, "id": "reasoning-language-00002", "text": "Right hand: grasp: Right hand adjusts its fingers and position to grasp the wooden handle of the yellow hammer, with fingers closing around the handle to form stable grip."}, {"label": "subtasks", "start_step": 285, "end_step": 314, "id": "reasoning-language-00003", "text": "Right hand: grasp: Right hand grasps the wooden handle of the yellow hammer on the black mat."}, {"label": "subtasks", "start_step": 315, "end_step": 367, "id": "reasoning-language-00004", "text": "Right hand: lift: Right hand lifts the yellow hammer up from the black mat."}, {"label": "subtasks", "start_step": 368, "end_step": 419, "id": "reasoning-language-00005", "text": "Right hand: transport: Right hand moves the yellow hammer above the red peg on the center of the wooden board."}, {"label": "subtasks", "start_step": 420, "end_step": 734, "id": "reasoning-language-00006", "text": "Right hand: press: Right hand presses the red peg on the wooden board with the yellow hammer."}, {"label": "subtasks", "start_step": 735, "end_step": 779, "id": "reasoning-language-00007", "text": "Right hand: transport: Right hand transports the yellow-headed hammer away from the pegboard towards the right side."}, {"label": "subtasks", "start_step": 780, "end_step": 794, "id": "reasoning-language-00008", "text": "Right hand: place_release: Right hand places the yellow-headed hammer onto the black table surface and releases its grip on the hammer handle."}, {"label": "subtasks", "start_step": 795, "end_step": 839, "id": "reasoning-language-00009", "text": "Right hand: retreat: Right hand retreats towards the upper right direction away from the placed hammer."}, {"label": "home", "start_step": 821, "end_step": 968, "id": "AZhhM9KunvhO_O4lhujx4"}], "language_segments": [{"label": "subtasks", "start_step": 15, "end_step": 111, "id": "reasoning-language-00001", "text": "Right hand: reach: Right hand moves downward and left from the top right of the frame towards the yellow hammer on the black mat."}, {"label": "subtasks", "start_step": 112, "end_step": 284, "id": "reasoning-language-00002", "text": "Right hand: grasp: Right hand adjusts its fingers and position to grasp the wooden handle of the yellow hammer, with fingers closing around the handle to form stable grip."}, {"label": "subtasks", "start_step": 285, "end_step": 314, "id": "reasoning-language-00003", "text": "Right hand: grasp: Right hand grasps the wooden handle of the yellow hammer on the black mat."}, {"label": "subtasks", "start_step": 315, "end_step": 367, "id": "reasoning-language-00004", "text": "Right hand: lift: Right hand lifts the yellow hammer up from the black mat."}, {"label": "subtasks", "start_step": 368, "end_step": 419, "id": "reasoning-language-00005", "text": "Right hand: transport: Right hand moves the yellow hammer above the red peg on the center of the wooden board."}, {"label": "subtasks", "start_step": 420, "end_step": 734, "id": "reasoning-language-00006", "text": "Right hand: press: Right hand presses the red peg on the wooden board with the yellow hammer."}, {"label": "subtasks", "start_step": 735, "end_step": 779, "id": "reasoning-language-00007", "text": "Right hand: transport: Right hand transports the yellow-headed hammer away from the pegboard towards the right side."}, {"label": "subtasks", "start_step": 780, "end_step": 794, "id": "reasoning-language-00008", "text": "Right hand: place_release: Right hand places the yellow-headed hammer onto the black table surface and releases its grip on the hammer handle."}, {"label": "subtasks", "start_step": 795, "end_step": 839, "id": "reasoning-language-00009", "text": "Right hand: retreat: Right hand retreats towards the upper right direction away from the placed hammer."}], "episode_index": 459} +{"source_uid": "dfa369147a06ea86", "num_frames": 930, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Hammer_Nails_v2", "tags": {"task_name": "Hammer_Nails_v2", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "B", "SOP": ""}, "segments": [{"label": "valid", "start_step": 0, "end_step": 780, "id": "743VGjq8CdfcV93curM4g"}, {"label": "subtasks", "start_step": 75, "end_step": 111, "id": "reasoning-language-00001", "text": "Right hand: reach: Right hand enters from the top-right edge of the frame and moves downward toward the wooden handle of the yellow hammer, staying empty."}, {"label": "subtasks", "start_step": 112, "end_step": 171, "id": "reasoning-language-00002", "text": "Right hand: grasp: Right hand closes fingers around the wooden handle of the yellow hammer, adjusting finger positions to establish contact with the handle that rests on the black mat."}, {"label": "subtasks", "start_step": 172, "end_step": 209, "id": "reasoning-language-00003", "text": "Right hand: lift: Right hand grips the wooden handle of the yellow hammer and moves upward, lifting the yellow hammer head partially off the black mat while the lower end of the handle remains in contact with the mat."}, {"label": "subtasks", "start_step": 210, "end_step": 254, "id": "reasoning-language-00004", "text": "Right hand: lift: Right hand lifts the grasped wooden mallet upward from the black work mat, with the yellow mallet head facing left initially, and the mallet fully separates from the mat surface by the end of the motion."}, {"label": "subtasks", "start_step": 255, "end_step": 299, "id": "reasoning-language-00005", "text": "Right hand: transport: Right hand carries the lifted wooden mallet toward the central wooden peg toy, rotating the mallet about a quarter turn to point the yellow mallet head downward as it moves."}, {"label": "subtasks", "start_step": 300, "end_step": 314, "id": "reasoning-language-00006", "text": "Right hand: hold: Right hand holds the wooden mallet stationary with the yellow mallet head facing downward, positioned above the wooden peg toy."}, {"label": "subtasks", "start_step": 315, "end_step": 501, "id": "reasoning-language-00007", "text": "Right hand: grasp: Right hand makes slight positional and rotational adjustments to fingers and wrist while contacting the wooden mallet handle, refining its grip on the handle."}, {"label": "subtasks", "start_step": 502, "end_step": 637, "id": "reasoning-language-00008", "text": "Right hand: hold: Right hand holds the wooden mallet handle steadily, with no observable movement of the hand, fingers, wrist or the mallet."}, {"label": "subtasks", "start_step": 638, "end_step": 689, "id": "reasoning-language-00009", "text": "Right hand: grasp: Right hand makes slight positional and rotational adjustments to its wrist and fingers, readjusting its grip on the wooden mallet handle."}, {"label": "subtasks", "start_step": 690, "end_step": 711, "id": "reasoning-language-00010", "text": "Right hand: lift: Right hand grips the wooden mallet, lifts it upward until the mallet is fully raised off the wooden toy structure and the black table surface."}, {"label": "subtasks", "start_step": 712, "end_step": 749, "id": "reasoning-language-00011", "text": "Right hand: transport: Right hand holds the suspended wooden mallet, moves it horizontally rightward across the table toward the right resting position."}, {"label": "subtasks", "start_step": 750, "end_step": 764, "id": "reasoning-language-00012", "text": "Right hand: place_release: Right hand lowers the wooden mallet to the right black table surface, opens fingers to release the mallet so it rests stably on the table."}, {"label": "subtasks", "start_step": 765, "end_step": 809, "id": "reasoning-language-00013", "text": "Right hand: return_home: Right hand moves empty upward and rightward to return to its resting home position at the top right of the frame."}, {"label": "home", "start_step": 781, "end_step": 929, "id": "STieMd1Vg06Yny-_b33kY"}], "language_segments": [{"label": "subtasks", "start_step": 75, "end_step": 111, "id": "reasoning-language-00001", "text": "Right hand: reach: Right hand enters from the top-right edge of the frame and moves downward toward the wooden handle of the yellow hammer, staying empty."}, {"label": "subtasks", "start_step": 112, "end_step": 171, "id": "reasoning-language-00002", "text": "Right hand: grasp: Right hand closes fingers around the wooden handle of the yellow hammer, adjusting finger positions to establish contact with the handle that rests on the black mat."}, {"label": "subtasks", "start_step": 172, "end_step": 209, "id": "reasoning-language-00003", "text": "Right hand: lift: Right hand grips the wooden handle of the yellow hammer and moves upward, lifting the yellow hammer head partially off the black mat while the lower end of the handle remains in contact with the mat."}, {"label": "subtasks", "start_step": 210, "end_step": 254, "id": "reasoning-language-00004", "text": "Right hand: lift: Right hand lifts the grasped wooden mallet upward from the black work mat, with the yellow mallet head facing left initially, and the mallet fully separates from the mat surface by the end of the motion."}, {"label": "subtasks", "start_step": 255, "end_step": 299, "id": "reasoning-language-00005", "text": "Right hand: transport: Right hand carries the lifted wooden mallet toward the central wooden peg toy, rotating the mallet about a quarter turn to point the yellow mallet head downward as it moves."}, {"label": "subtasks", "start_step": 300, "end_step": 314, "id": "reasoning-language-00006", "text": "Right hand: hold: Right hand holds the wooden mallet stationary with the yellow mallet head facing downward, positioned above the wooden peg toy."}, {"label": "subtasks", "start_step": 315, "end_step": 501, "id": "reasoning-language-00007", "text": "Right hand: grasp: Right hand makes slight positional and rotational adjustments to fingers and wrist while contacting the wooden mallet handle, refining its grip on the handle."}, {"label": "subtasks", "start_step": 502, "end_step": 637, "id": "reasoning-language-00008", "text": "Right hand: hold: Right hand holds the wooden mallet handle steadily, with no observable movement of the hand, fingers, wrist or the mallet."}, {"label": "subtasks", "start_step": 638, "end_step": 689, "id": "reasoning-language-00009", "text": "Right hand: grasp: Right hand makes slight positional and rotational adjustments to its wrist and fingers, readjusting its grip on the wooden mallet handle."}, {"label": "subtasks", "start_step": 690, "end_step": 711, "id": "reasoning-language-00010", "text": "Right hand: lift: Right hand grips the wooden mallet, lifts it upward until the mallet is fully raised off the wooden toy structure and the black table surface."}, {"label": "subtasks", "start_step": 712, "end_step": 749, "id": "reasoning-language-00011", "text": "Right hand: transport: Right hand holds the suspended wooden mallet, moves it horizontally rightward across the table toward the right resting position."}, {"label": "subtasks", "start_step": 750, "end_step": 764, "id": "reasoning-language-00012", "text": "Right hand: place_release: Right hand lowers the wooden mallet to the right black table surface, opens fingers to release the mallet so it rests stably on the table."}, {"label": "subtasks", "start_step": 765, "end_step": 809, "id": "reasoning-language-00013", "text": "Right hand: return_home: Right hand moves empty upward and rightward to return to its resting home position at the top right of the frame."}], "episode_index": 460} +{"source_uid": "00cc55895b7e9f5c", "num_frames": 770, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. 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"/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData/Hammer_Nails_v2/season_POC22048_2026_05_22_10_21_37_train/POC22048_2026_05_22_21_46_28_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/hammer_nails/season_POC22048_2026_05_22_10_21_37_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 327, "v40_language_source": "previous_published_lerobot", "episode_index": 461} +{"source_uid": "1fc799e9a9b0bf66", "num_frames": 947, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Hammer_Nails_v2", "tags": {"task_name": "Hammer_Nails_v2", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "B", "SOP": ""}, "segments": [{"label": "valid", "start_step": 0, "end_step": 797, "id": "RzU6os4zD63yeEUNH3mbq"}, {"label": "subtasks", "start_step": 15, "end_step": 134, "id": "reasoning-language-00001", "text": "Right hand: reach: Right hand moves from the upper right of the frame toward the handle of the yellow hammer on the black mat."}, {"label": "subtasks", "start_step": 135, "end_step": 149, "id": "reasoning-language-00002", "text": "Right hand: grasp: Right hand contacts the handle of the yellow hammer and closes fingers to establish grasp."}, {"label": "subtasks", "start_step": 150, "end_step": 217, "id": "reasoning-language-00003", "text": "Right hand: grasp: Right hand adjusts its fingers to form a stable grasp on the wooden handle of the yellow mallet placed on the black mat."}, {"label": "subtasks", "start_step": 218, "end_step": 239, "id": "reasoning-language-00004", "text": "Right hand: lift: Right hand lifts the yellow mallet off the black mat by its wooden handle."}, {"label": "subtasks", "start_step": 240, "end_step": 269, "id": "reasoning-language-00005", "text": "Right hand: transport: Right hand moves the grasped yellow mallet upward and leftward above the black mat."}, {"label": "subtasks", "start_step": 270, "end_step": 307, "id": "reasoning-language-00006", "text": "Right hand: transport: Right hand transports the yellow mallet to the position above the red peg on the wooden toy."}, {"label": "subtasks", "start_step": 308, "end_step": 337, "id": "reasoning-language-00007", "text": "Right hand: press: Right hand presses the red peg on the wooden toy with the yellow mallet."}, {"label": "subtasks", "start_step": 338, "end_step": 434, "id": "reasoning-language-00008", "text": "Right hand: transport: Right hand lifts the yellow mallet slightly and adjusts its position above the red peg."}, {"label": "subtasks", "start_step": 435, "end_step": 479, "id": "reasoning-language-00009", "text": "Right hand: hold: Right hand holds the yellow mallet steady above the red peg without moving."}, {"label": "subtasks", "start_step": 480, "end_step": 517, "id": "reasoning-language-00010", "text": "Right hand: press: Right hand presses the red peg on the wooden toy with the yellow mallet."}, {"label": "subtasks", "start_step": 518, "end_step": 584, "id": "reasoning-language-00011", "text": "Right hand: transport: Right hand lifts the yellow mallet slightly and adjusts its position above the red peg."}, {"label": "subtasks", "start_step": 585, "end_step": 621, "id": "reasoning-language-00012", "text": "Right hand: press: Right hand presses the red peg on the wooden toy with the yellow mallet."}, {"label": "subtasks", "start_step": 622, "end_step": 697, "id": "reasoning-language-00013", "text": "Right hand: transport: Right hand lifts the yellow mallet slightly and adjusts its position above the red peg."}, {"label": "subtasks", "start_step": 698, "end_step": 719, "id": "reasoning-language-00014", "text": "Right hand: press: Right hand presses the red peg on the wooden toy with the yellow mallet."}, {"label": "subtasks", "start_step": 720, "end_step": 734, "id": "reasoning-language-00015", "text": "Right hand: lift: Right hand lifts the yellow mallet away from the wooden perforated board."}, {"label": "subtasks", "start_step": 735, "end_step": 764, "id": "reasoning-language-00016", "text": "Right hand: transport: Right hand transports the yellow mallet towards the right side of the wooden perforated board."}, {"label": "subtasks", "start_step": 765, "end_step": 779, "id": "reasoning-language-00017", "text": "Right hand: release: Right hand releases the yellow mallet onto the black table surface."}, {"label": "home", "start_step": 798, "end_step": 946, "id": "5ABg64CsBapSDv4r1K4zJ"}], "language_segments": [{"label": "subtasks", "start_step": 15, "end_step": 134, "id": "reasoning-language-00001", "text": "Right hand: reach: Right hand moves from the upper right of the frame toward the handle of the yellow hammer on the black mat."}, {"label": "subtasks", "start_step": 135, "end_step": 149, "id": "reasoning-language-00002", "text": "Right hand: grasp: Right hand contacts the handle of the yellow hammer and closes fingers to establish grasp."}, {"label": "subtasks", "start_step": 150, "end_step": 217, "id": "reasoning-language-00003", "text": "Right hand: grasp: Right hand adjusts its fingers to form a stable grasp on the wooden handle of the yellow mallet placed on the black mat."}, {"label": "subtasks", "start_step": 218, "end_step": 239, "id": "reasoning-language-00004", "text": "Right hand: lift: Right hand lifts the yellow mallet off the black mat by its wooden handle."}, {"label": "subtasks", "start_step": 240, "end_step": 269, "id": "reasoning-language-00005", "text": "Right hand: transport: Right hand moves the grasped yellow mallet upward and leftward above the black mat."}, {"label": "subtasks", "start_step": 270, "end_step": 307, "id": "reasoning-language-00006", "text": "Right hand: transport: Right hand transports the yellow mallet to the position above the red peg on the wooden toy."}, {"label": "subtasks", "start_step": 308, "end_step": 337, "id": "reasoning-language-00007", "text": "Right hand: press: Right hand presses the red peg on the wooden toy with the yellow mallet."}, {"label": "subtasks", "start_step": 338, "end_step": 434, "id": "reasoning-language-00008", "text": "Right hand: transport: Right hand lifts the yellow mallet slightly and adjusts its position above the red peg."}, {"label": "subtasks", "start_step": 435, "end_step": 479, "id": "reasoning-language-00009", "text": "Right hand: hold: Right hand holds the yellow mallet steady above the red peg without moving."}, {"label": "subtasks", "start_step": 480, "end_step": 517, "id": "reasoning-language-00010", "text": "Right hand: press: Right hand presses the red peg on the wooden toy with the yellow mallet."}, {"label": "subtasks", "start_step": 518, "end_step": 584, "id": "reasoning-language-00011", "text": "Right hand: transport: Right hand lifts the yellow mallet slightly and adjusts its position above the red peg."}, {"label": "subtasks", "start_step": 585, "end_step": 621, "id": "reasoning-language-00012", "text": "Right hand: press: Right hand presses the red peg on the wooden toy with the yellow mallet."}, {"label": "subtasks", "start_step": 622, "end_step": 697, "id": "reasoning-language-00013", "text": "Right hand: transport: Right hand lifts the yellow mallet slightly and adjusts its position above the red peg."}, {"label": "subtasks", "start_step": 698, "end_step": 719, "id": "reasoning-language-00014", "text": "Right hand: press: Right hand presses the red peg on the wooden toy with the yellow mallet."}, {"label": "subtasks", "start_step": 720, "end_step": 734, "id": "reasoning-language-00015", "text": "Right hand: lift: Right hand lifts the yellow mallet away from the wooden perforated board."}, {"label": "subtasks", "start_step": 735, "end_step": 764, "id": "reasoning-language-00016", "text": "Right hand: transport: Right hand transports the yellow mallet towards the right side of the wooden perforated board."}, {"label": "subtasks", "start_step": 765, "end_step": 779, "id": "reasoning-language-00017", "text": "Right hand: release: Right hand releases the yellow mallet onto the black table surface."}], "episode_index": 462} +{"source_uid": "67f81f345ad82da5", "num_frames": 790, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table.", "tags": {"task_name": "Hammer Nails", "task_instruction": "Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table.", "scene_description": "A hammer and two nails are placed on the table. 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"/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData/Hammer_Nails_v2/season_POC22048_2026_05_22_10_21_37_train/POC22048_2026_05_22_21_47_54_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/hammer_nails/season_POC22048_2026_05_22_10_21_37_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 328, "v40_language_source": "previous_published_lerobot", "episode_index": 463} +{"source_uid": "b13e7ea5cc6610b8", "num_frames": 805, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Hammer_Nails_v2", "tags": {"task_name": "Hammer_Nails_v2", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "B", "SOP": ""}, "segments": [{"label": "valid", "start_step": 0, "end_step": 654, "id": "FvaNVBbRDS1V9pDsEIXk8"}, {"label": "subtasks", "start_step": 15, "end_step": 134, "id": "reasoning-language-00001", "text": "Right hand: reach: Right hand moves left from the right edge of the frame toward the yellow hammer on the black mat."}, {"label": "subtasks", "start_step": 135, "end_step": 194, "id": "reasoning-language-00002", "text": "Right hand: grasp: Right hand touches the wooden handle of the yellow hammer and adjusts fingers to form a stable grasp."}, {"label": "subtasks", "start_step": 195, "end_step": 239, "id": "reasoning-language-00003", "text": "Right hand: grasp: Right hand closes its fingers to grasp the wooden handle of the yellow hammer on the black mat."}, {"label": "subtasks", "start_step": 240, "end_step": 254, "id": "reasoning-language-00004", "text": "Right hand: lift: Right hand lifts the yellow hammer off the black textured mat."}, {"label": "subtasks", "start_step": 255, "end_step": 314, "id": "reasoning-language-00005", "text": "Right hand: transport: Right hand transports the yellow hammer left toward the green peg on the wooden board."}, {"label": "subtasks", "start_step": 315, "end_step": 344, "id": "reasoning-language-00006", "text": "Right hand: place: Right hand places the yellow hammer onto the green peg on the wooden board."}, {"label": "subtasks", "start_step": 345, "end_step": 381, "id": "reasoning-language-00007", "text": "Right hand: hold: Right hand holds the yellow hammer with its head resting on the yellow peg above the green peg without moving."}, {"label": "subtasks", "start_step": 382, "end_step": 404, "id": "reasoning-language-00008", "text": "Right hand: lift: Right hand lifts the yellow hammer upward away from the yellow peg on the wooden base."}, {"label": "subtasks", "start_step": 405, "end_step": 441, "id": "reasoning-language-00009", "text": "Right hand: press: Right hand moves the yellow hammer downward to press the yellow peg, driving the green peg into the wooden base."}, {"label": "subtasks", "start_step": 442, "end_step": 464, "id": "reasoning-language-00010", "text": "Right hand: lift: Right hand lifts the yellow hammer upward slightly away from the yellow peg."}, {"label": "subtasks", "start_step": 465, "end_step": 554, "id": "reasoning-language-00011", "text": "Right hand: press: Right hand moves the yellow hammer downward to press the yellow peg again, further driving the green peg into the wooden base."}, {"label": "subtasks", "start_step": 555, "end_step": 569, "id": "reasoning-language-00012", "text": "Right hand: lift: Right hand lifts the yellow hammer upward fully away from the yellow peg."}, {"label": "subtasks", "start_step": 570, "end_step": 584, "id": "reasoning-language-00013", "text": "Right hand: transport: Right hand moves the lifted yellow hammer rightward away from the wooden base."}, {"label": "subtasks", "start_step": 585, "end_step": 621, "id": "reasoning-language-00014", "text": "Right hand: transport: Right hand transports the yellow hammer with wooden handle rightward above the black mat."}, {"label": "subtasks", "start_step": 622, "end_step": 637, "id": "reasoning-language-00015", "text": "Right hand: place_release: Right hand places the yellow hammer onto the black mat and releases the grip on the hammer handle."}, {"label": "subtasks", "start_step": 638, "end_step": 644, "id": "reasoning-language-00016", "text": "Right hand: retreat: Right hand retracts away from the yellow hammer placed on the black mat."}, {"label": "home", "start_step": 655, "end_step": 804, "id": "SScQ25aUwARKiPigXdXd_"}, {"label": "subtasks", "start_step": 795, "end_step": 804, "id": "reasoning-language-00017", "text": "Right hand: reach_grasp: Right hand enters the frame from the top right corner, moves towards the yellow hammer on the black mat, and touches the hammer to start grasping."}], "language_segments": [{"label": "subtasks", "start_step": 15, "end_step": 134, "id": "reasoning-language-00001", "text": "Right hand: reach: Right hand moves left from the right edge of the frame toward the yellow hammer on the black mat."}, {"label": "subtasks", "start_step": 135, "end_step": 194, "id": "reasoning-language-00002", "text": "Right hand: grasp: Right hand touches the wooden handle of the yellow hammer and adjusts fingers to form a stable grasp."}, {"label": "subtasks", "start_step": 195, "end_step": 239, "id": "reasoning-language-00003", "text": "Right hand: grasp: Right hand closes its fingers to grasp the wooden handle of the yellow hammer on the black mat."}, {"label": "subtasks", "start_step": 240, "end_step": 254, "id": "reasoning-language-00004", "text": "Right hand: lift: Right hand lifts the yellow hammer off the black textured mat."}, {"label": "subtasks", "start_step": 255, "end_step": 314, "id": "reasoning-language-00005", "text": "Right hand: transport: Right hand transports the yellow hammer left toward the green peg on the wooden board."}, {"label": "subtasks", "start_step": 315, "end_step": 344, "id": "reasoning-language-00006", "text": "Right hand: place: Right hand places the yellow hammer onto the green peg on the wooden board."}, {"label": "subtasks", "start_step": 345, "end_step": 381, "id": "reasoning-language-00007", "text": "Right hand: hold: Right hand holds the yellow hammer with its head resting on the yellow peg above the green peg without moving."}, {"label": "subtasks", "start_step": 382, "end_step": 404, "id": "reasoning-language-00008", "text": "Right hand: lift: Right hand lifts the yellow hammer upward away from the yellow peg on the wooden base."}, {"label": "subtasks", "start_step": 405, "end_step": 441, "id": "reasoning-language-00009", "text": "Right hand: press: Right hand moves the yellow hammer downward to press the yellow peg, driving the green peg into the wooden base."}, {"label": "subtasks", "start_step": 442, "end_step": 464, "id": "reasoning-language-00010", "text": "Right hand: lift: Right hand lifts the yellow hammer upward slightly away from the yellow peg."}, {"label": "subtasks", "start_step": 465, "end_step": 554, "id": "reasoning-language-00011", "text": "Right hand: press: Right hand moves the yellow hammer downward to press the yellow peg again, further driving the green peg into the wooden base."}, {"label": "subtasks", "start_step": 555, "end_step": 569, "id": "reasoning-language-00012", "text": "Right hand: lift: Right hand lifts the yellow hammer upward fully away from the yellow peg."}, {"label": "subtasks", "start_step": 570, "end_step": 584, "id": "reasoning-language-00013", "text": "Right hand: transport: Right hand moves the lifted yellow hammer rightward away from the wooden base."}, {"label": "subtasks", "start_step": 585, "end_step": 621, "id": "reasoning-language-00014", "text": "Right hand: transport: Right hand transports the yellow hammer with wooden handle rightward above the black mat."}, {"label": "subtasks", "start_step": 622, "end_step": 637, "id": "reasoning-language-00015", "text": "Right hand: place_release: Right hand places the yellow hammer onto the black mat and releases the grip on the hammer handle."}, {"label": "subtasks", "start_step": 638, "end_step": 644, "id": "reasoning-language-00016", "text": "Right hand: retreat: Right hand retracts away from the yellow hammer placed on the black mat."}, {"label": "subtasks", "start_step": 795, "end_step": 804, "id": "reasoning-language-00017", "text": "Right hand: reach_grasp: Right hand enters the frame from the top right corner, moves towards the yellow hammer on the black mat, and touches the hammer to start grasping."}], "episode_index": 464} +{"source_uid": "b4a8552e830b31e1", "num_frames": 1072, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Hammer_Nails_v2", "tags": {"task_name": "Hammer_Nails_v2", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "B", "SOP": ""}, "segments": [{"label": "valid", "start_step": 0, "end_step": 923, "id": "bea3JF6VoviGbnhnoyJwJ"}, {"label": "subtasks", "start_step": 75, "end_step": 111, "id": "reasoning-language-00001", "text": "Right hand: reach: Right hand enters from the top right of the frame and moves toward the yellow hammer on the black mat."}, {"label": "subtasks", "start_step": 112, "end_step": 194, "id": "reasoning-language-00002", "text": "Right hand: grasp: Right hand contacts the handle of the yellow hammer, with fingers adjusting to form a stable grip on the hammer."}, {"label": "subtasks", "start_step": 195, "end_step": 374, "id": "reasoning-language-00003", "text": "Right hand: grasp: Right hand adjusts its grip on the wooden handle of the yellow hammer by slightly moving fingers to form a stable grasp."}, {"label": "subtasks", "start_step": 375, "end_step": 404, "id": "reasoning-language-00004", "text": "Right hand: grasp: Right hand adjusts grip on the wooden handle of the yellow hammer to establish stable grasp."}, {"label": "subtasks", "start_step": 405, "end_step": 419, "id": "reasoning-language-00005", "text": "Right hand: lift: Right hand lifts the yellow hammer up from the black mat surface."}, {"label": "subtasks", "start_step": 420, "end_step": 464, "id": "reasoning-language-00006", "text": "Right hand: transport: Right hand transports the yellow hammer leftward to the position above the wooden pegboard."}, {"label": "subtasks", "start_step": 465, "end_step": 531, "id": "reasoning-language-00007", "text": "Right hand: grasp: Right hand adjusts its fingers to form a stable grasp on the wooden handle of the yellow hammer."}, {"label": "subtasks", "start_step": 532, "end_step": 577, "id": "reasoning-language-00008", "text": "Right hand: lift: Right hand lifts the yellow hammer upward away from the wooden base."}, {"label": "subtasks", "start_step": 578, "end_step": 704, "id": "reasoning-language-00009", "text": "Right hand: transport: Right hand transports the yellow hammer to the position above the green peg on the wooden base."}, {"label": "subtasks", "start_step": 705, "end_step": 741, "id": "reasoning-language-00010", "text": "Right hand: mate: Right hand aligns the yellow head of the hammer with the top of the green peg."}, {"label": "subtasks", "start_step": 742, "end_step": 809, "id": "reasoning-language-00011", "text": "Right hand: press: Right hand presses the green peg downward using the yellow head of the hammer."}, {"label": "subtasks", "start_step": 810, "end_step": 869, "id": "reasoning-language-00012", "text": "Right hand: lift_transport: Right hand lifts the yellow hammer from the wooden base and transports it towards the right side of the black textured mat."}, {"label": "subtasks", "start_step": 870, "end_step": 884, "id": "reasoning-language-00013", "text": "Right hand: place: Right hand moves downward to place the yellow hammer onto the black textured mat surface."}, {"label": "subtasks", "start_step": 885, "end_step": 899, "id": "reasoning-language-00014", "text": "Right hand: release: Right hand opens its fingers to release the yellow hammer and moves slightly upward away from the hammer."}, {"label": "home", "start_step": 924, "end_step": 1071, "id": "zn3hVJtq6JSRhxD7eqLes"}], "language_segments": [{"label": "subtasks", "start_step": 75, "end_step": 111, "id": "reasoning-language-00001", "text": "Right hand: reach: Right hand enters from the top right of the frame and moves toward the yellow hammer on the black mat."}, {"label": "subtasks", "start_step": 112, "end_step": 194, "id": "reasoning-language-00002", "text": "Right hand: grasp: Right hand contacts the handle of the yellow hammer, with fingers adjusting to form a stable grip on the hammer."}, {"label": "subtasks", "start_step": 195, "end_step": 374, "id": "reasoning-language-00003", "text": "Right hand: grasp: Right hand adjusts its grip on the wooden handle of the yellow hammer by slightly moving fingers to form a stable grasp."}, {"label": "subtasks", "start_step": 375, "end_step": 404, "id": "reasoning-language-00004", "text": "Right hand: grasp: Right hand adjusts grip on the wooden handle of the yellow hammer to establish stable grasp."}, {"label": "subtasks", "start_step": 405, "end_step": 419, "id": "reasoning-language-00005", "text": "Right hand: lift: Right hand lifts the yellow hammer up from the black mat surface."}, {"label": "subtasks", "start_step": 420, "end_step": 464, "id": "reasoning-language-00006", "text": "Right hand: transport: Right hand transports the yellow hammer leftward to the position above the wooden pegboard."}, {"label": "subtasks", "start_step": 465, "end_step": 531, "id": "reasoning-language-00007", "text": "Right hand: grasp: Right hand adjusts its fingers to form a stable grasp on the wooden handle of the yellow hammer."}, {"label": "subtasks", "start_step": 532, "end_step": 577, "id": "reasoning-language-00008", "text": "Right hand: lift: Right hand lifts the yellow hammer upward away from the wooden base."}, {"label": "subtasks", "start_step": 578, "end_step": 704, "id": "reasoning-language-00009", "text": "Right hand: transport: Right hand transports the yellow hammer to the position above the green peg on the wooden base."}, {"label": "subtasks", "start_step": 705, "end_step": 741, "id": "reasoning-language-00010", "text": "Right hand: mate: Right hand aligns the yellow head of the hammer with the top of the green peg."}, {"label": "subtasks", "start_step": 742, "end_step": 809, "id": "reasoning-language-00011", "text": "Right hand: press: Right hand presses the green peg downward using the yellow head of the hammer."}, {"label": "subtasks", "start_step": 810, "end_step": 869, "id": "reasoning-language-00012", "text": "Right hand: lift_transport: Right hand lifts the yellow hammer from the wooden base and transports it towards the right side of the black textured mat."}, {"label": "subtasks", "start_step": 870, "end_step": 884, "id": "reasoning-language-00013", "text": "Right hand: place: Right hand moves downward to place the yellow hammer onto the black textured mat surface."}, {"label": "subtasks", "start_step": 885, "end_step": 899, "id": "reasoning-language-00014", "text": "Right hand: release: Right hand opens its fingers to release the yellow hammer and moves slightly upward away from the hammer."}], "episode_index": 465} +{"source_uid": "dd71b55fcb46d6df", "num_frames": 876, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Hammer_Nails_v2", "tags": {"task_name": "Hammer_Nails_v2", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "B", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 111, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand stays partially visible at the far left edge of the frame, remains empty, and shows no observable movement or contact with any operated object throughout the segment. | Right hand: reach: Right hand starts outside the right edge of the frame, enters the view from the right, remains empty, and moves leftward toward the wooden-handled hammer to the right of the wooden peg toy, without contacting the hammer."}, {"label": "valid", "start_step": 0, "end_step": 726, "id": "8AdB-wAZwE5RP43qm2C0E"}, {"label": "subtasks", "start_step": 112, "end_step": 209, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand stays partially visible at the far left edge of the frame, remains empty, and shows no observable movement or contact with any operated object throughout the segment. | Right hand: grasp: Right hand contacts the wooden handle of the hammer, fingers gradually close and adjust their positions along with slight wrist repositioning to form a stable grip, while the hammer remains resting on the black supporting surface."}, {"label": "subtasks", "start_step": 210, "end_step": 224, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand stays partially visible at the far left edge of the frame, remains empty, and shows no observable movement or contact with any operated object throughout the segment. | Right hand: grasp: Right hand adjusts its fingers around the wooden handle of the yellow hammer lying flat on the black work surface to form a stable grasp."}, {"label": "subtasks", "start_step": 225, "end_step": 291, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand stays partially visible at the far left edge of the frame, remains empty, and shows no observable movement or contact with any operated object throughout the segment. | Right hand: transport: Right hand moves the grasped yellow hammer leftward in an upward arcing path, lifting the yellow hammer head off the black work surface while sliding the distal tip of the wooden handle along the surface, to position the hammer head over the wooden peg board."}, {"label": "subtasks", "start_step": 292, "end_step": 314, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand stays partially visible at the far left edge of the frame, remains empty, and shows no observable movement or contact with any operated object throughout the segment. | Right hand: place: Right hand lowers the yellow hammer vertically downward to rest its yellow head on the target peg atop the wooden peg board."}, {"label": "subtasks", "start_step": 315, "end_step": 419, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand stays partially visible at the far left edge of the frame, remains empty, and shows no observable movement or contact with any operated object throughout the segment. | Right hand: hold: Right hand holds the positioned yellow hammer stationary, with its head resting on the wooden peg and handle tip touching the black work surface, without observable movement."}, {"label": "subtasks", "start_step": 420, "end_step": 464, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand stays partially visible at the far left edge of the frame, remains empty, and shows no observable movement or contact with any operated object throughout the segment. | Right hand: press: Right hand grips the wooden handle of the yellow hammer, moves vertically downward to apply downward pressure on the red peg placed on the light brown perforated wooden block."}, {"label": "subtasks", "start_step": 465, "end_step": 569, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand stays partially visible at the far left edge of the frame, remains empty, and shows no observable movement or contact with any operated object throughout the segment."}, {"label": "subtasks", "start_step": 570, "end_step": 584, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand stays partially visible at the far left edge of the frame, remains empty, and shows no observable movement or contact with any operated object throughout the segment. | Right hand: grasp: Right hand adjusts finger positions to tighten its grip on the wooden hammer handle to form a stable hold."}, {"label": "subtasks", "start_step": 585, "end_step": 607, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand stays partially visible at the far left edge of the frame, remains empty, and shows no observable movement or contact with any operated object throughout the segment. | Right hand: lift_reorient: Right hand slightly lifts the hammer head off the wooden supporting base, and tilts the hammer toward the right to rotate it to a near-horizontal orientation."}, {"label": "subtasks", "start_step": 608, "end_step": 629, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand stays partially visible at the far left edge of the frame, remains empty, and shows no observable movement or contact with any operated object throughout the segment. | Right hand: hold: Right hand holds the wooden hammer without movement, with the yellow hammer head resting horizontally on the wooden base."}, {"label": "subtasks", "start_step": 630, "end_step": 644, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand stays partially visible at the far left edge of the frame, remains empty, and shows no observable movement or contact with any operated object throughout the segment. | Right hand: reorient: Right hand rotates its wrist to further tilt the hammer toward the right, lifting the hammer head off the wooden base."}, {"label": "subtasks", "start_step": 645, "end_step": 697, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand stays partially visible at the far left edge of the frame, remains empty, and shows no observable movement or contact with any operated object throughout the segment. | Right hand: lift_transport: Right hand grips the wooden handle of the yellow hammer, lifts it off the wooden peg toy, and moves it downward to the right over the black work surface."}, {"label": "subtasks", "start_step": 698, "end_step": 711, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand stays partially visible at the far left edge of the frame, remains empty, and shows no observable movement or contact with any operated object throughout the segment. | Right hand: place_release: Right hand places the yellow hammer onto the right side of the black work surface and opens its fingers to release the hammer handle."}, {"label": "subtasks", "start_step": 712, "end_step": 719, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand stays partially visible at the far left edge of the frame, remains empty, and shows no observable movement or contact with any operated object throughout the segment. | Right hand: retreat: Empty right hand moves upward away from the yellow hammer resting on the work surface."}, {"label": "subtasks", "start_step": 720, "end_step": 875, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand stays partially visible at the far left edge of the frame, remains empty, and shows no observable movement or contact with any operated object throughout the segment."}, {"label": "home", "start_step": 727, "end_step": 875, "id": "mO7BAQN-gKkJqVewvprQh"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 111, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand stays partially visible at the far left edge of the frame, remains empty, and shows no observable movement or contact with any operated object throughout the segment. | Right hand: reach: Right hand starts outside the right edge of the frame, enters the view from the right, remains empty, and moves leftward toward the wooden-handled hammer to the right of the wooden peg toy, without contacting the hammer."}, {"label": "subtasks", "start_step": 112, "end_step": 209, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand stays partially visible at the far left edge of the frame, remains empty, and shows no observable movement or contact with any operated object throughout the segment. | Right hand: grasp: Right hand contacts the wooden handle of the hammer, fingers gradually close and adjust their positions along with slight wrist repositioning to form a stable grip, while the hammer remains resting on the black supporting surface."}, {"label": "subtasks", "start_step": 210, "end_step": 224, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand stays partially visible at the far left edge of the frame, remains empty, and shows no observable movement or contact with any operated object throughout the segment. | Right hand: grasp: Right hand adjusts its fingers around the wooden handle of the yellow hammer lying flat on the black work surface to form a stable grasp."}, {"label": "subtasks", "start_step": 225, "end_step": 291, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand stays partially visible at the far left edge of the frame, remains empty, and shows no observable movement or contact with any operated object throughout the segment. | Right hand: transport: Right hand moves the grasped yellow hammer leftward in an upward arcing path, lifting the yellow hammer head off the black work surface while sliding the distal tip of the wooden handle along the surface, to position the hammer head over the wooden peg board."}, {"label": "subtasks", "start_step": 292, "end_step": 314, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand stays partially visible at the far left edge of the frame, remains empty, and shows no observable movement or contact with any operated object throughout the segment. | Right hand: place: Right hand lowers the yellow hammer vertically downward to rest its yellow head on the target peg atop the wooden peg board."}, {"label": "subtasks", "start_step": 315, "end_step": 419, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand stays partially visible at the far left edge of the frame, remains empty, and shows no observable movement or contact with any operated object throughout the segment. | Right hand: hold: Right hand holds the positioned yellow hammer stationary, with its head resting on the wooden peg and handle tip touching the black work surface, without observable movement."}, {"label": "subtasks", "start_step": 420, "end_step": 464, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand stays partially visible at the far left edge of the frame, remains empty, and shows no observable movement or contact with any operated object throughout the segment. | Right hand: press: Right hand grips the wooden handle of the yellow hammer, moves vertically downward to apply downward pressure on the red peg placed on the light brown perforated wooden block."}, {"label": "subtasks", "start_step": 465, "end_step": 569, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand stays partially visible at the far left edge of the frame, remains empty, and shows no observable movement or contact with any operated object throughout the segment."}, {"label": "subtasks", "start_step": 570, "end_step": 584, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand stays partially visible at the far left edge of the frame, remains empty, and shows no observable movement or contact with any operated object throughout the segment. | Right hand: grasp: Right hand adjusts finger positions to tighten its grip on the wooden hammer handle to form a stable hold."}, {"label": "subtasks", "start_step": 585, "end_step": 607, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand stays partially visible at the far left edge of the frame, remains empty, and shows no observable movement or contact with any operated object throughout the segment. | Right hand: lift_reorient: Right hand slightly lifts the hammer head off the wooden supporting base, and tilts the hammer toward the right to rotate it to a near-horizontal orientation."}, {"label": "subtasks", "start_step": 608, "end_step": 629, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand stays partially visible at the far left edge of the frame, remains empty, and shows no observable movement or contact with any operated object throughout the segment. | Right hand: hold: Right hand holds the wooden hammer without movement, with the yellow hammer head resting horizontally on the wooden base."}, {"label": "subtasks", "start_step": 630, "end_step": 644, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand stays partially visible at the far left edge of the frame, remains empty, and shows no observable movement or contact with any operated object throughout the segment. | Right hand: reorient: Right hand rotates its wrist to further tilt the hammer toward the right, lifting the hammer head off the wooden base."}, {"label": "subtasks", "start_step": 645, "end_step": 697, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand stays partially visible at the far left edge of the frame, remains empty, and shows no observable movement or contact with any operated object throughout the segment. | Right hand: lift_transport: Right hand grips the wooden handle of the yellow hammer, lifts it off the wooden peg toy, and moves it downward to the right over the black work surface."}, {"label": "subtasks", "start_step": 698, "end_step": 711, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand stays partially visible at the far left edge of the frame, remains empty, and shows no observable movement or contact with any operated object throughout the segment. | Right hand: place_release: Right hand places the yellow hammer onto the right side of the black work surface and opens its fingers to release the hammer handle."}, {"label": "subtasks", "start_step": 712, "end_step": 719, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand stays partially visible at the far left edge of the frame, remains empty, and shows no observable movement or contact with any operated object throughout the segment. | Right hand: retreat: Empty right hand moves upward away from the yellow hammer resting on the work surface."}, {"label": "subtasks", "start_step": 720, "end_step": 875, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand stays partially visible at the far left edge of the frame, remains empty, and shows no observable movement or contact with any operated object throughout the segment."}], "episode_index": 466} +{"source_uid": "a7cd6039ec21b27b", "num_frames": 758, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table.", "tags": {"task_name": "Hammer Nails", "task_instruction": "Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table.", "scene_description": "A hammer and two nails are placed on the table. 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The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back.", "success_criteria": "Both nails are hammered down securely, and the hammer is placed back stably on the table.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 207, "id": "subtask-001", "text": "Pick up the hammer from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 208, "end_step": 381, "id": "subtask-002", "text": "Hammer down the first nail with the right hand. | Skill: press", "task_skill": "press", "atomic_action": []}, {"label": "subtasks", "start_step": 382, "end_step": 486, "id": "subtask-003", "text": "Hammer down the second nail with the right hand. | Skill: press", "task_skill": "press", "atomic_action": []}, {"label": "subtasks", "start_step": 487, "end_step": 588, "id": "subtask-004", "text": "Place the hammer back on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 207, "id": "subtask-001", "text": "Pick up the hammer from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 208, "end_step": 381, "id": "subtask-002", "text": "Hammer down the first nail with the right hand. | Skill: press", "task_skill": "press", "atomic_action": []}, {"label": "subtasks", "start_step": 382, "end_step": 486, "id": "subtask-003", "text": "Hammer down the second nail with the right hand. | Skill: press", "task_skill": "press", "atomic_action": []}, {"label": "subtasks", "start_step": 487, "end_step": 588, "id": "subtask-004", "text": "Place the hammer back on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData/Hammer_Nails_v2/season_POC22048_2026_05_22_10_21_37_train/POC22048_2026_05_22_21_55_11_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/hammer_nails/season_POC22048_2026_05_22_10_21_37_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 333, "v40_language_source": "previous_published_lerobot", "episode_index": 473} +{"source_uid": "56e57ade1af86d8e", "num_frames": 912, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Hammer_Nails_v2", "tags": {"task_name": "Hammer_Nails_v2", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "B", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 104, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty and stationary at the far left edge of the frame, with no visible movement or contact with any objects. | Right hand: reach: Right hand moves downward empty from the top-right edge of the frame toward the light brown wooden handle of the wooden mallet, without making contact with the mallet."}, {"label": "valid", "start_step": 0, "end_step": 763, "id": "Fp9XAATmjpZgoeBLZv4Q_"}, {"label": "subtasks", "start_step": 105, "end_step": 224, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and stationary at the far left edge of the frame, with no visible movement or contact with any objects. | Right hand: grasp: Right hand makes contact with the wooden mallet's handle, closes fingers around the handle and makes slight adjustments to finger and wrist positions to form a grip, with the mallet remaining on the black table surface."}, {"label": "subtasks", "start_step": 225, "end_step": 261, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary at the far left edge of the frame, with no visible movement or contact with any objects. | Right hand: lift: Right hand grips the wooden mallet handle and lifts the mallet upward until the entire mallet is completely off the black supporting surface."}, {"label": "subtasks", "start_step": 262, "end_step": 539, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stationary at the far left edge of the frame, with no visible movement or contact with any objects. | Right hand: transport: Right hand carries the lifted wooden mallet leftward, with minor finger adjustments on the handle, moving the yellow mallet head to the position above the wooden peg platform."}, {"label": "subtasks", "start_step": 540, "end_step": 659, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and stationary at the far left edge of the frame, with no visible movement or contact with any objects."}, {"label": "subtasks", "start_step": 660, "end_step": 674, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary at the far left edge of the frame, with no visible movement or contact with any objects. | Right hand: lift: Right hand grips the wooden mallet and lifts it upward off the supporting black work surface and wooden toy."}, {"label": "subtasks", "start_step": 675, "end_step": 727, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary at the far left edge of the frame, with no visible movement or contact with any objects. | Right hand: transport: Right hand carries the gripped wooden mallet horizontally toward the right side of the black work surface."}, {"label": "subtasks", "start_step": 728, "end_step": 749, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary at the far left edge of the frame, with no visible movement or contact with any objects. | Right hand: place_release: Right hand lowers the wooden mallet onto the right section of the black work surface, opening fingers to release contact with the mallet."}, {"label": "subtasks", "start_step": 750, "end_step": 764, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stationary at the far left edge of the frame, with no visible movement or contact with any objects. | Right hand: retreat: Right hand moves upward away from the released mallet while staying empty."}, {"label": "home", "start_step": 764, "end_step": 911, "id": "3FLBG6IMWyAqItRRIqqMA"}, {"label": "subtasks", "start_step": 765, "end_step": 884, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stationary at the far left edge of the frame, with no visible movement or contact with any objects."}, {"label": "subtasks", "start_step": 885, "end_step": 911, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stationary at the far left edge of the frame, with no visible movement or contact with any objects. | Right hand: reach_grasp: Right hand moves down from the top-right frame edge toward the yellow mallet, with fingers closing to grasp the yellow head of the mallet."}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 104, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty and stationary at the far left edge of the frame, with no visible movement or contact with any objects. | Right hand: reach: Right hand moves downward empty from the top-right edge of the frame toward the light brown wooden handle of the wooden mallet, without making contact with the mallet."}, {"label": "subtasks", "start_step": 105, "end_step": 224, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and stationary at the far left edge of the frame, with no visible movement or contact with any objects. | Right hand: grasp: Right hand makes contact with the wooden mallet's handle, closes fingers around the handle and makes slight adjustments to finger and wrist positions to form a grip, with the mallet remaining on the black table surface."}, {"label": "subtasks", "start_step": 225, "end_step": 261, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary at the far left edge of the frame, with no visible movement or contact with any objects. | Right hand: lift: Right hand grips the wooden mallet handle and lifts the mallet upward until the entire mallet is completely off the black supporting surface."}, {"label": "subtasks", "start_step": 262, "end_step": 539, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stationary at the far left edge of the frame, with no visible movement or contact with any objects. | Right hand: transport: Right hand carries the lifted wooden mallet leftward, with minor finger adjustments on the handle, moving the yellow mallet head to the position above the wooden peg platform."}, {"label": "subtasks", "start_step": 540, "end_step": 659, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and stationary at the far left edge of the frame, with no visible movement or contact with any objects."}, {"label": "subtasks", "start_step": 660, "end_step": 674, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary at the far left edge of the frame, with no visible movement or contact with any objects. | Right hand: lift: Right hand grips the wooden mallet and lifts it upward off the supporting black work surface and wooden toy."}, {"label": "subtasks", "start_step": 675, "end_step": 727, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary at the far left edge of the frame, with no visible movement or contact with any objects. | Right hand: transport: Right hand carries the gripped wooden mallet horizontally toward the right side of the black work surface."}, {"label": "subtasks", "start_step": 728, "end_step": 749, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary at the far left edge of the frame, with no visible movement or contact with any objects. | Right hand: place_release: Right hand lowers the wooden mallet onto the right section of the black work surface, opening fingers to release contact with the mallet."}, {"label": "subtasks", "start_step": 750, "end_step": 764, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stationary at the far left edge of the frame, with no visible movement or contact with any objects. | Right hand: retreat: Right hand moves upward away from the released mallet while staying empty."}, {"label": "subtasks", "start_step": 765, "end_step": 884, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stationary at the far left edge of the frame, with no visible movement or contact with any objects."}, {"label": "subtasks", "start_step": 885, "end_step": 911, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stationary at the far left edge of the frame, with no visible movement or contact with any objects. | Right hand: reach_grasp: Right hand moves down from the top-right frame edge toward the yellow mallet, with fingers closing to grasp the yellow head of the mallet."}], "episode_index": 474} +{"source_uid": "b6508424cbd5c4e4", "num_frames": 936, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Hammer_Nails_v2", "tags": {"task_name": "Hammer_Nails_v2", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "B", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 59, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty with no visible movement or object interaction throughout the segment, only partially visible at the top-left edge during the earliest frames. | Right hand: idle: Right hand remains empty at the top-right edge of the frame without any visible movement."}, {"label": "valid", "start_step": 0, "end_step": 787, "id": "ZIkwCubeOTQl9RhpVgEto"}, {"label": "subtasks", "start_step": 60, "end_step": 119, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty with no visible movement or object interaction throughout the segment, only partially visible at the top-left edge during the earliest frames. | Right hand: reach: Right hand moves downward from the top-right edge of the frame toward the wooden handle of the yellow mallet, with fingers held in an open position."}, {"label": "subtasks", "start_step": 120, "end_step": 194, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty with no visible movement or object interaction throughout the segment, only partially visible at the top-left edge during the earliest frames. | Right hand: grasp: Right hand closes fingers around the wooden handle of the yellow mallet, making slight contact adjustments to establish a stable grip on the handle."}, {"label": "subtasks", "start_step": 195, "end_step": 217, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty with no visible movement or object interaction throughout the segment, only partially visible at the top-left edge during the earliest frames. | Right hand: lift: Right hand grips the wooden handle of the yellow mallet and lifts it upward until the entire mallet is fully separated from the black supporting mat."}, {"label": "subtasks", "start_step": 218, "end_step": 314, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty with no visible movement or object interaction throughout the segment, only partially visible at the top-left edge during the earliest frames. | Right hand: transport_place: Right hand carries the yellow mallet leftward to the position above the wooden workbench and lowers the mallet to rest its yellow head on the red peg atop the workbench while maintaining grip on the handle."}, {"label": "subtasks", "start_step": 315, "end_step": 434, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty with no visible movement or object interaction throughout the segment, only partially visible at the top-left edge during the earliest frames. | Right hand: grasp: Right hand adjusts finger contact positions and wrist posture on the wooden mallet handle, making small movements to tighten the grip and establish a stable hold on the mallet."}, {"label": "subtasks", "start_step": 435, "end_step": 531, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty with no visible movement or object interaction throughout the segment, only partially visible at the top-left edge during the earliest frames. | Right hand: transport: Right hand holds the mallet handle with a stable grip, moving the mallet vertically upward along the hole in the wooden base."}, {"label": "subtasks", "start_step": 532, "end_step": 599, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty with no visible movement or object interaction throughout the segment, only partially visible at the top-left edge during the earliest frames. | Right hand: transport: Right hand holds the mallet handle with a stable grip, moving the mallet vertically downward along the hole in the wooden base."}, {"label": "subtasks", "start_step": 600, "end_step": 674, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty with no visible movement or object interaction throughout the segment, only partially visible at the top-left edge during the earliest frames. | Right hand: hold: Right hand holds the wooden mallet handle steadily without observable movement, with the mallet resting against the wooden base."}, {"label": "subtasks", "start_step": 675, "end_step": 697, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty with no visible movement or object interaction throughout the segment, only partially visible at the top-left edge during the earliest frames. | Right hand: lift: Right hand holds the wooden mallet and lifts it upward away from the wooden peg toy, keeping fingers closed around the light wooden mallet handle."}, {"label": "subtasks", "start_step": 698, "end_step": 757, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty with no visible movement or object interaction throughout the segment, only partially visible at the top-left edge during the earliest frames. | Right hand: transport: Right hand holds the fully lifted wooden mallet and moves it horizontally rightward across the black textured mat toward the right side of the workspace."}, {"label": "subtasks", "start_step": 758, "end_step": 771, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty with no visible movement or object interaction throughout the segment, only partially visible at the top-left edge during the earliest frames. | Right hand: place_release: Right hand lowers the wooden mallet to rest on the right section of the black mat, opens fingers to release grip on the mallet handle, fully separating the hand from the mallet."}, {"label": "subtasks", "start_step": 772, "end_step": 809, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty with no visible movement or object interaction throughout the segment, only partially visible at the top-left edge during the earliest frames. | Right hand: retreat: Right hand, empty after releasing the mallet, moves upward and rightward away from the resting mallet toward the top-right edge of the frame."}, {"label": "home", "start_step": 788, "end_step": 935, "id": "5BWM0JbzUwLQ1H4hLxXZC"}, {"label": "subtasks", "start_step": 810, "end_step": 935, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty with no visible movement or object interaction throughout the segment, only partially visible at the top-left edge during the earliest frames."}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 59, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty with no visible movement or object interaction throughout the segment, only partially visible at the top-left edge during the earliest frames. | Right hand: idle: Right hand remains empty at the top-right edge of the frame without any visible movement."}, {"label": "subtasks", "start_step": 60, "end_step": 119, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty with no visible movement or object interaction throughout the segment, only partially visible at the top-left edge during the earliest frames. | Right hand: reach: Right hand moves downward from the top-right edge of the frame toward the wooden handle of the yellow mallet, with fingers held in an open position."}, {"label": "subtasks", "start_step": 120, "end_step": 194, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty with no visible movement or object interaction throughout the segment, only partially visible at the top-left edge during the earliest frames. | Right hand: grasp: Right hand closes fingers around the wooden handle of the yellow mallet, making slight contact adjustments to establish a stable grip on the handle."}, {"label": "subtasks", "start_step": 195, "end_step": 217, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty with no visible movement or object interaction throughout the segment, only partially visible at the top-left edge during the earliest frames. | Right hand: lift: Right hand grips the wooden handle of the yellow mallet and lifts it upward until the entire mallet is fully separated from the black supporting mat."}, {"label": "subtasks", "start_step": 218, "end_step": 314, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty with no visible movement or object interaction throughout the segment, only partially visible at the top-left edge during the earliest frames. | Right hand: transport_place: Right hand carries the yellow mallet leftward to the position above the wooden workbench and lowers the mallet to rest its yellow head on the red peg atop the workbench while maintaining grip on the handle."}, {"label": "subtasks", "start_step": 315, "end_step": 434, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty with no visible movement or object interaction throughout the segment, only partially visible at the top-left edge during the earliest frames. | Right hand: grasp: Right hand adjusts finger contact positions and wrist posture on the wooden mallet handle, making small movements to tighten the grip and establish a stable hold on the mallet."}, {"label": "subtasks", "start_step": 435, "end_step": 531, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty with no visible movement or object interaction throughout the segment, only partially visible at the top-left edge during the earliest frames. | Right hand: transport: Right hand holds the mallet handle with a stable grip, moving the mallet vertically upward along the hole in the wooden base."}, {"label": "subtasks", "start_step": 532, "end_step": 599, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty with no visible movement or object interaction throughout the segment, only partially visible at the top-left edge during the earliest frames. | Right hand: transport: Right hand holds the mallet handle with a stable grip, moving the mallet vertically downward along the hole in the wooden base."}, {"label": "subtasks", "start_step": 600, "end_step": 674, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty with no visible movement or object interaction throughout the segment, only partially visible at the top-left edge during the earliest frames. | Right hand: hold: Right hand holds the wooden mallet handle steadily without observable movement, with the mallet resting against the wooden base."}, {"label": "subtasks", "start_step": 675, "end_step": 697, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty with no visible movement or object interaction throughout the segment, only partially visible at the top-left edge during the earliest frames. | Right hand: lift: Right hand holds the wooden mallet and lifts it upward away from the wooden peg toy, keeping fingers closed around the light wooden mallet handle."}, {"label": "subtasks", "start_step": 698, "end_step": 757, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty with no visible movement or object interaction throughout the segment, only partially visible at the top-left edge during the earliest frames. | Right hand: transport: Right hand holds the fully lifted wooden mallet and moves it horizontally rightward across the black textured mat toward the right side of the workspace."}, {"label": "subtasks", "start_step": 758, "end_step": 771, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty with no visible movement or object interaction throughout the segment, only partially visible at the top-left edge during the earliest frames. | Right hand: place_release: Right hand lowers the wooden mallet to rest on the right section of the black mat, opens fingers to release grip on the mallet handle, fully separating the hand from the mallet."}, {"label": "subtasks", "start_step": 772, "end_step": 809, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty with no visible movement or object interaction throughout the segment, only partially visible at the top-left edge during the earliest frames. | Right hand: retreat: Right hand, empty after releasing the mallet, moves upward and rightward away from the resting mallet toward the top-right edge of the frame."}, {"label": "subtasks", "start_step": 810, "end_step": 935, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty with no visible movement or object interaction throughout the segment, only partially visible at the top-left edge during the earliest frames."}], "episode_index": 475} +{"source_uid": "7c8461942b4f4102", "num_frames": 958, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Hammer_Nails_v2", "tags": {"task_name": "Hammer_Nails_v2", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "B", "SOP": ""}, "segments": [{"label": "valid", "start_step": 0, "end_step": 809, "id": "HRyaN5q4gjdLsR59APSZM"}, {"label": "subtasks", "start_step": 15, "end_step": 104, "id": "reasoning-language-00001", "text": "Right hand: reach: Right hand enters from the right edge of the frame and moves toward the yellow hammer with wooden handle on the black mat."}, {"label": "subtasks", "start_step": 105, "end_step": 194, "id": "reasoning-language-00002", "text": "Right hand: reach_grasp: Right hand moves towards the wooden handle of the yellow hammer on the black textured mat and closes its fingers to grasp the handle."}, {"label": "subtasks", "start_step": 195, "end_step": 247, "id": "reasoning-language-00003", "text": "Right hand: grasp: Right hand adjusts fingers to form a stable grasp on the yellow hammer on the black mat."}, {"label": "subtasks", "start_step": 248, "end_step": 269, "id": "reasoning-language-00004", "text": "Right hand: lift: Right hand lifts the yellow hammer upward until it completely leaves the black mat surface."}, {"label": "subtasks", "start_step": 270, "end_step": 329, "id": "reasoning-language-00005", "text": "Right hand: transport: Right hand transports the yellow hammer to the position above the green peg on the wooden board."}, {"label": "subtasks", "start_step": 330, "end_step": 397, "id": "reasoning-language-00006", "text": "Right hand: grasp: Right hand adjusts its grip on the yellow hammer with wooden handle, fingers slightly move to stabilize the grasp."}, {"label": "subtasks", "start_step": 398, "end_step": 457, "id": "reasoning-language-00007", "text": "Right hand: other:hit: Right hand lifts the yellow hammer and hits the green peg on the wooden peg board, driving the peg into the board."}, {"label": "subtasks", "start_step": 458, "end_step": 539, "id": "reasoning-language-00008", "text": "Right hand: grasp: Right hand adjusts its grip and position of the yellow hammer to prepare for the next hit."}, {"label": "subtasks", "start_step": 540, "end_step": 584, "id": "reasoning-language-00009", "text": "Right hand: other:hit: Right hand lifts the yellow hammer and hits the green peg on the wooden peg board again to push it further into the board."}, {"label": "subtasks", "start_step": 585, "end_step": 651, "id": "reasoning-language-00010", "text": "Right hand: hold: Right hand holds the yellow hammer without moving, staying at the position after the second hit."}, {"label": "subtasks", "start_step": 652, "end_step": 697, "id": "reasoning-language-00011", "text": "Right hand: other:hit: Right hand lifts the yellow hammer and hits the green peg on the wooden peg board for the third time."}, {"label": "subtasks", "start_step": 698, "end_step": 719, "id": "reasoning-language-00012", "text": "Right hand: transport: Right hand moves the yellow hammer slightly away from the wooden peg board after the last hit."}, {"label": "subtasks", "start_step": 720, "end_step": 779, "id": "reasoning-language-00013", "text": "Right hand: transport: Right hand transports the yellow hammer with wooden handle moving rightwards away from the small wooden bench."}, {"label": "subtasks", "start_step": 780, "end_step": 787, "id": "reasoning-language-00014", "text": "Right hand: place: Right hand places the yellow hammer onto the black textured mat on the right side of the small wooden bench."}, {"label": "subtasks", "start_step": 788, "end_step": 794, "id": "reasoning-language-00015", "text": "Right hand: release: Right hand releases the yellow hammer by opening fingers to separate from the hammer handle."}, {"label": "subtasks", "start_step": 795, "end_step": 809, "id": "reasoning-language-00016", "text": "Right hand: retreat: Right hand moves away from the yellow hammer towards the upper right direction."}, {"label": "home", "start_step": 810, "end_step": 957, "id": "PLWs9d4N1CNKHtEklS3JV"}], "language_segments": [{"label": "subtasks", "start_step": 15, "end_step": 104, "id": "reasoning-language-00001", "text": "Right hand: reach: Right hand enters from the right edge of the frame and moves toward the yellow hammer with wooden handle on the black mat."}, {"label": "subtasks", "start_step": 105, "end_step": 194, "id": "reasoning-language-00002", "text": "Right hand: reach_grasp: Right hand moves towards the wooden handle of the yellow hammer on the black textured mat and closes its fingers to grasp the handle."}, {"label": "subtasks", "start_step": 195, "end_step": 247, "id": "reasoning-language-00003", "text": "Right hand: grasp: Right hand adjusts fingers to form a stable grasp on the yellow hammer on the black mat."}, {"label": "subtasks", "start_step": 248, "end_step": 269, "id": "reasoning-language-00004", "text": "Right hand: lift: Right hand lifts the yellow hammer upward until it completely leaves the black mat surface."}, {"label": "subtasks", "start_step": 270, "end_step": 329, "id": "reasoning-language-00005", "text": "Right hand: transport: Right hand transports the yellow hammer to the position above the green peg on the wooden board."}, {"label": "subtasks", "start_step": 330, "end_step": 397, "id": "reasoning-language-00006", "text": "Right hand: grasp: Right hand adjusts its grip on the yellow hammer with wooden handle, fingers slightly move to stabilize the grasp."}, {"label": "subtasks", "start_step": 398, "end_step": 457, "id": "reasoning-language-00007", "text": "Right hand: other:hit: Right hand lifts the yellow hammer and hits the green peg on the wooden peg board, driving the peg into the board."}, {"label": "subtasks", "start_step": 458, "end_step": 539, "id": "reasoning-language-00008", "text": "Right hand: grasp: Right hand adjusts its grip and position of the yellow hammer to prepare for the next hit."}, {"label": "subtasks", "start_step": 540, "end_step": 584, "id": "reasoning-language-00009", "text": "Right hand: other:hit: Right hand lifts the yellow hammer and hits the green peg on the wooden peg board again to push it further into the board."}, {"label": "subtasks", "start_step": 585, "end_step": 651, "id": "reasoning-language-00010", "text": "Right hand: hold: Right hand holds the yellow hammer without moving, staying at the position after the second hit."}, {"label": "subtasks", "start_step": 652, "end_step": 697, "id": "reasoning-language-00011", "text": "Right hand: other:hit: Right hand lifts the yellow hammer and hits the green peg on the wooden peg board for the third time."}, {"label": "subtasks", "start_step": 698, "end_step": 719, "id": "reasoning-language-00012", "text": "Right hand: transport: Right hand moves the yellow hammer slightly away from the wooden peg board after the last hit."}, {"label": "subtasks", "start_step": 720, "end_step": 779, "id": "reasoning-language-00013", "text": "Right hand: transport: Right hand transports the yellow hammer with wooden handle moving rightwards away from the small wooden bench."}, {"label": "subtasks", "start_step": 780, "end_step": 787, "id": "reasoning-language-00014", "text": "Right hand: place: Right hand places the yellow hammer onto the black textured mat on the right side of the small wooden bench."}, {"label": "subtasks", "start_step": 788, "end_step": 794, "id": "reasoning-language-00015", "text": "Right hand: release: Right hand releases the yellow hammer by opening fingers to separate from the hammer handle."}, {"label": "subtasks", "start_step": 795, "end_step": 809, "id": "reasoning-language-00016", "text": "Right hand: retreat: Right hand moves away from the yellow hammer towards the upper right direction."}], "episode_index": 476} +{"source_uid": "558b426031fdcf54", "num_frames": 880, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table.", "tags": {"task_name": "Hammer Nails", "task_instruction": "Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table.", "scene_description": "A hammer and two nails are placed on the table. 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Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table.", "tags": {"task_name": "Hammer Nails", "task_instruction": "Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table.", "scene_description": "A hammer and two nails are placed on the table. 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"/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData/Hammer_Nails_v2/season_POC22048_2026_05_22_10_21_37_train/POC22048_2026_05_22_21_58_47_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/hammer_nails/season_POC22048_2026_05_22_10_21_37_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 335, "v40_language_source": "previous_published_lerobot", "episode_index": 478} +{"source_uid": "4152d7cbaed287bf", "num_frames": 784, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Hammer_Nails_v2", "tags": {"task_name": "Hammer_Nails_v2", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "B", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 51, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand has no observable movement or contact with any operated object in the frame, remaining empty. | Right hand: idle: Right hand remains empty at the top-right edge of the frame without observable movement."}, {"label": "valid", "start_step": 0, "end_step": 635, "id": "FZ_X2VqycyBWo4WvJ-8Gk"}, {"label": "subtasks", "start_step": 52, "end_step": 119, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand has no observable movement or contact with any operated object in the frame, remaining empty. | Right hand: reach: Right hand moves downward from the top-right of the frame toward the wooden handle of the yellow mallet, with fingers held slightly open."}, {"label": "subtasks", "start_step": 120, "end_step": 194, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand has no observable movement or contact with any operated object in the frame, remaining empty. | Right hand: grasp: Right hand closes fingers around the wooden handle of the yellow mallet, making slight finger adjustments to establish stable contact with the handle."}, {"label": "subtasks", "start_step": 195, "end_step": 209, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand has no observable movement or contact with any operated object in the frame, remaining empty. | Right hand: hold: Right hand holds the wooden mallet resting on the black work surface without moving."}, {"label": "subtasks", "start_step": 210, "end_step": 224, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand has no observable movement or contact with any operated object in the frame, remaining empty. | Right hand: lift: Right hand lifts the grasped wooden mallet upward to completely raise it off the black work surface."}, {"label": "subtasks", "start_step": 225, "end_step": 269, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand has no observable movement or contact with any operated object in the frame, remaining empty. | Right hand: transport: Right hand transports the lifted wooden mallet slightly upward and leftward toward the wooden peg board, rotating the wrist slightly to adjust the mallet to a near-vertical orientation with the yellow head facing downward."}, {"label": "subtasks", "start_step": 270, "end_step": 299, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand has no observable movement or contact with any operated object in the frame, remaining empty. | Right hand: hold: Right hand holds the adjusted wooden mallet stationary with the yellow head positioned directly above the red peg on the wooden block."}, {"label": "subtasks", "start_step": 300, "end_step": 351, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand has no observable movement or contact with any operated object in the frame, remaining empty. | Right hand: grasp: Right hand closes fingers around the wooden mallet handle, adjusting contact positions to form a stable grasp."}, {"label": "subtasks", "start_step": 352, "end_step": 554, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand has no observable movement or contact with any operated object in the frame, remaining empty. | Right hand: press: Right hand holds the wooden mallet and presses it straight downward onto the wooden peg on the wooden base, applying downward vertical force."}, {"label": "subtasks", "start_step": 555, "end_step": 569, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand has no observable movement or contact with any operated object in the frame, remaining empty. | Right hand: lift: Right hand holds the wooden mallet with a yellow head, lifting it upward to separate it from the wooden pegboard below."}, {"label": "subtasks", "start_step": 570, "end_step": 607, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand has no observable movement or contact with any operated object in the frame, remaining empty. | Right hand: transport: Right hand carries the lifted wooden mallet, moving it horizontally rightward across the black work surface away from the pegboard."}, {"label": "subtasks", "start_step": 608, "end_step": 621, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand has no observable movement or contact with any operated object in the frame, remaining empty. | Right hand: place_release: Right hand lowers the wooden mallet until its yellow head contacts the black work surface, fingers opening to release grip on the wooden handle."}, {"label": "subtasks", "start_step": 622, "end_step": 644, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand has no observable movement or contact with any operated object in the frame, remaining empty. | Right hand: retreat: Right hand moves empty upward and rightward, retreating away from the mallet resting on the work surface."}, {"label": "home", "start_step": 636, "end_step": 783, "id": "_ng33ha98c-Lc-au1XcRR"}, {"label": "subtasks", "start_step": 645, "end_step": 783, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand has no observable movement or contact with any operated object in the frame, remaining empty."}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 51, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand has no observable movement or contact with any operated object in the frame, remaining empty. | Right hand: idle: Right hand remains empty at the top-right edge of the frame without observable movement."}, {"label": "subtasks", "start_step": 52, "end_step": 119, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand has no observable movement or contact with any operated object in the frame, remaining empty. | Right hand: reach: Right hand moves downward from the top-right of the frame toward the wooden handle of the yellow mallet, with fingers held slightly open."}, {"label": "subtasks", "start_step": 120, "end_step": 194, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand has no observable movement or contact with any operated object in the frame, remaining empty. | Right hand: grasp: Right hand closes fingers around the wooden handle of the yellow mallet, making slight finger adjustments to establish stable contact with the handle."}, {"label": "subtasks", "start_step": 195, "end_step": 209, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand has no observable movement or contact with any operated object in the frame, remaining empty. | Right hand: hold: Right hand holds the wooden mallet resting on the black work surface without moving."}, {"label": "subtasks", "start_step": 210, "end_step": 224, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand has no observable movement or contact with any operated object in the frame, remaining empty. | Right hand: lift: Right hand lifts the grasped wooden mallet upward to completely raise it off the black work surface."}, {"label": "subtasks", "start_step": 225, "end_step": 269, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand has no observable movement or contact with any operated object in the frame, remaining empty. | Right hand: transport: Right hand transports the lifted wooden mallet slightly upward and leftward toward the wooden peg board, rotating the wrist slightly to adjust the mallet to a near-vertical orientation with the yellow head facing downward."}, {"label": "subtasks", "start_step": 270, "end_step": 299, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand has no observable movement or contact with any operated object in the frame, remaining empty. | Right hand: hold: Right hand holds the adjusted wooden mallet stationary with the yellow head positioned directly above the red peg on the wooden block."}, {"label": "subtasks", "start_step": 300, "end_step": 351, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand has no observable movement or contact with any operated object in the frame, remaining empty. | Right hand: grasp: Right hand closes fingers around the wooden mallet handle, adjusting contact positions to form a stable grasp."}, {"label": "subtasks", "start_step": 352, "end_step": 554, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand has no observable movement or contact with any operated object in the frame, remaining empty. | Right hand: press: Right hand holds the wooden mallet and presses it straight downward onto the wooden peg on the wooden base, applying downward vertical force."}, {"label": "subtasks", "start_step": 555, "end_step": 569, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand has no observable movement or contact with any operated object in the frame, remaining empty. | Right hand: lift: Right hand holds the wooden mallet with a yellow head, lifting it upward to separate it from the wooden pegboard below."}, {"label": "subtasks", "start_step": 570, "end_step": 607, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand has no observable movement or contact with any operated object in the frame, remaining empty. | Right hand: transport: Right hand carries the lifted wooden mallet, moving it horizontally rightward across the black work surface away from the pegboard."}, {"label": "subtasks", "start_step": 608, "end_step": 621, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand has no observable movement or contact with any operated object in the frame, remaining empty. | Right hand: place_release: Right hand lowers the wooden mallet until its yellow head contacts the black work surface, fingers opening to release grip on the wooden handle."}, {"label": "subtasks", "start_step": 622, "end_step": 644, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand has no observable movement or contact with any operated object in the frame, remaining empty. | Right hand: retreat: Right hand moves empty upward and rightward, retreating away from the mallet resting on the work surface."}, 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"reasoning-language-00010", "text": "Right hand: place_release: Right hand places the yellow hammer onto the black textured mat and releases its grip on the hammer."}, {"label": "subtasks", "start_step": 600, "end_step": 614, "id": "reasoning-language-00011", "text": "Right hand: retreat: Right hand retreats upward away from the placed yellow hammer."}, {"label": "home", "start_step": 623, "end_step": 771, "id": "lwUq10K4KQwRyNFvtXGXY"}, {"label": "subtasks", "start_step": 750, "end_step": 757, "id": "reasoning-language-00012", "text": "Right hand: grasp: Right hand closes fingers to grasp the yellow hammer with wooden handle on the right side of the black mat."}, {"label": "subtasks", "start_step": 758, "end_step": 771, "id": "reasoning-language-00013", "text": "Right hand: lift_transport: Right hand lifts the yellow hammer from the black mat and transports it leftward towards the wooden peg board."}], "language_segments": [{"label": "subtasks", "start_step": 15, "end_step": 127, 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contact."}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 59, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty on the left edge of the frame without moving. | Right hand: idle: Right hand remains empty at the top right of the frame without moving."}, {"label": "subtasks", "start_step": 60, "end_step": 97, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty on the left edge of the frame without moving. | Right hand: reach: Right hand moves downward from the top right of the frame toward the wooden mallet, approaching the mallet without establishing a grip."}, {"label": "subtasks", "start_step": 98, "end_step": 187, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty on the left edge of the frame without moving. | Right hand: grasp: Right hand closes fingers around the wooden handle of the mallet, adjusting finger positions to establish a stable grip, with the 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moving. | Right hand: transport: Right hand carries the fully lifted wooden mallet leftward toward the wooden peg toy, slightly rotating the mallet from a tilted orientation to a near-vertical orientation as it moves."}, {"label": "subtasks", "start_step": 330, "end_step": 419, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty on the left edge of the frame without moving."}, {"label": "subtasks", "start_step": 420, "end_step": 517, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty on the left edge of the frame without moving. | Right hand: grasp: Right hand adjusts its fingers around the wooden mallet handle, gradually closing and repositioning contact points to form a stable grip."}, {"label": "subtasks", "start_step": 518, "end_step": 539, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty on the left edge of the frame without moving. | Right hand: press: Right hand holds the mallet steadily and moves vertically downward to apply pressure, causing the mallet head to strike the red peg mounted on the wooden pegboard."}, {"label": "subtasks", "start_step": 540, "end_step": 561, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty on the left edge of the frame without moving. | Right hand: lift: Right hand holds the wooden mallet, lifts it upward to completely separate it from the wooden toy structure."}, {"label": "subtasks", "start_step": 562, "end_step": 584, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty on the left edge of the frame without moving. | Right hand: transport: Right hand carries the lifted wooden mallet rightward through the air to the area above the right side of the black work surface."}, {"label": "subtasks", "start_step": 585, "end_step": 614, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty on the left edge of the frame without moving. | Right hand: place_release: Right hand lowers the wooden mallet onto the right black work surface until the mallet is fully supported by the surface, fingers open to release contact with the mallet handle."}, {"label": "subtasks", "start_step": 615, "end_step": 659, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty on the left edge of the frame without moving. | Right hand: retreat: Right hand moves empty upward and rightward away from the released mallet on the work surface."}, {"label": "subtasks", "start_step": 660, "end_step": 764, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty on the left edge of the frame without moving."}, {"label": "subtasks", "start_step": 765, "end_step": 775, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty on the left edge of the frame without moving. | Right hand: reach: Right hand re-enters the view from the top right edge, moves downward with an empty hand toward the yellow mallet, approaching the target without making contact."}], "episode_index": 509} +{"source_uid": "2ac564f3580b429c", "num_frames": 839, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table.", "tags": {"task_name": "Hammer Nails", "task_instruction": "Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table.", "scene_description": "A hammer and two nails are placed on the table. 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The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 1076} +{"episode_index": 3, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 1078} +{"episode_index": 4, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 918} +{"episode_index": 5, "tasks": ["Task: Hammer_Nails_v2"], "length": 1043} +{"episode_index": 6, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 977} +{"episode_index": 7, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 1196} +{"episode_index": 8, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 981} +{"episode_index": 9, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 959} +{"episode_index": 10, "tasks": ["Task: Hammer_Nails_v2"], "length": 1051} +{"episode_index": 11, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 995} +{"episode_index": 12, "tasks": ["Task: Hammer_Nails_v2"], "length": 1140} +{"episode_index": 13, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 1144} +{"episode_index": 14, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 1033} +{"episode_index": 15, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 1004} +{"episode_index": 16, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 1019} +{"episode_index": 17, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 1090} +{"episode_index": 18, "tasks": ["Task: Hammer_Nails_v2"], "length": 1128} +{"episode_index": 19, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 982} +{"episode_index": 20, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 1051} +{"episode_index": 21, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 1037} +{"episode_index": 22, "tasks": ["Task: Hammer_Nails_v2"], "length": 1258} +{"episode_index": 23, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 1029} +{"episode_index": 24, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 954} +{"episode_index": 25, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 861} +{"episode_index": 26, "tasks": ["Task: Hammer_Nails_v2"], "length": 1012} +{"episode_index": 27, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 1122} +{"episode_index": 28, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 1007} +{"episode_index": 29, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 1172} +{"episode_index": 30, "tasks": ["Task: Hammer_Nails_v2"], "length": 1300} +{"episode_index": 31, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 1156} +{"episode_index": 32, "tasks": ["Task: Hammer_Nails_v2"], "length": 1148} +{"episode_index": 33, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 1018} +{"episode_index": 34, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 1065} +{"episode_index": 35, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 1070} +{"episode_index": 36, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 1181} +{"episode_index": 37, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 976} +{"episode_index": 38, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 1080} +{"episode_index": 39, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 1087} +{"episode_index": 40, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 990} +{"episode_index": 41, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 986} +{"episode_index": 42, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 973} +{"episode_index": 43, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 1057} +{"episode_index": 44, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 968} +{"episode_index": 45, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 938} +{"episode_index": 46, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 956} +{"episode_index": 47, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 1021} +{"episode_index": 48, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 860} +{"episode_index": 49, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 995} +{"episode_index": 50, "tasks": ["Task: Hammer_Nails_v2"], "length": 1154} +{"episode_index": 51, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 899} +{"episode_index": 52, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 881} +{"episode_index": 53, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 909} +{"episode_index": 54, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 1021} +{"episode_index": 55, "tasks": ["Task: Hammer_Nails_v2"], "length": 993} +{"episode_index": 56, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 1081} +{"episode_index": 57, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 970} +{"episode_index": 58, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 889} +{"episode_index": 59, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 872} +{"episode_index": 60, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 888} +{"episode_index": 61, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 903} +{"episode_index": 62, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 939} +{"episode_index": 63, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 952} +{"episode_index": 64, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 935} +{"episode_index": 65, "tasks": ["Task: Hammer_Nails_v2"], "length": 535} +{"episode_index": 66, "tasks": ["Task: Hammer_Nails_v2"], "length": 473} +{"episode_index": 67, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 945} +{"episode_index": 68, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 925} +{"episode_index": 69, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 964} +{"episode_index": 70, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 907} +{"episode_index": 71, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 933} +{"episode_index": 72, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 930} +{"episode_index": 73, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 944} +{"episode_index": 74, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 958} +{"episode_index": 75, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 999} +{"episode_index": 76, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 947} +{"episode_index": 77, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 996} +{"episode_index": 78, "tasks": ["Task: Hammer_Nails_v2"], "length": 1093} +{"episode_index": 79, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 915} +{"episode_index": 80, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 964} +{"episode_index": 81, "tasks": ["Task: Hammer_Nails_v2"], "length": 696} +{"episode_index": 82, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 1080} +{"episode_index": 83, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 939} +{"episode_index": 84, "tasks": ["Task: Hammer_Nails_v2"], "length": 1001} +{"episode_index": 85, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 906} +{"episode_index": 86, "tasks": ["Task: Hammer_Nails_v2"], "length": 938} +{"episode_index": 87, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 1046} +{"episode_index": 88, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 817} +{"episode_index": 89, "tasks": ["Task: Hammer_Nails_v2"], "length": 941} +{"episode_index": 90, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 904} +{"episode_index": 91, "tasks": ["Task: Hammer_Nails_v2"], "length": 1066} +{"episode_index": 92, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 996} +{"episode_index": 93, "tasks": ["Task: Hammer_Nails_v2"], "length": 1053} +{"episode_index": 94, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 946} +{"episode_index": 95, "tasks": ["Task: Hammer_Nails_v2"], "length": 1038} +{"episode_index": 96, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 1001} +{"episode_index": 97, "tasks": ["Task: Hammer_Nails_v2"], "length": 1030} +{"episode_index": 98, "tasks": ["Task: Hammer_Nails_v2"], "length": 690} +{"episode_index": 99, "tasks": ["Task: Hammer_Nails_v2"], "length": 1040} +{"episode_index": 100, "tasks": ["Task: Hammer_Nails_v2"], "length": 1166} +{"episode_index": 101, "tasks": ["Task: Hammer_Nails_v2"], "length": 1145} +{"episode_index": 102, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 1111} +{"episode_index": 103, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 875} +{"episode_index": 104, "tasks": ["Task: Hammer_Nails_v2"], "length": 1016} +{"episode_index": 105, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 1001} +{"episode_index": 106, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 921} +{"episode_index": 107, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 893} +{"episode_index": 108, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 867} +{"episode_index": 109, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 963} +{"episode_index": 110, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 844} +{"episode_index": 111, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 874} +{"episode_index": 112, "tasks": ["Task: Hammer_Nails_v2"], "length": 879} +{"episode_index": 113, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 951} +{"episode_index": 114, "tasks": ["Task: Hammer_Nails_v2"], "length": 931} +{"episode_index": 115, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 880} +{"episode_index": 116, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 855} +{"episode_index": 117, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 984} +{"episode_index": 118, "tasks": ["Task: Hammer_Nails_v2"], "length": 966} +{"episode_index": 119, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 880} +{"episode_index": 120, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 879} +{"episode_index": 121, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 910} +{"episode_index": 122, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 907} +{"episode_index": 123, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 891} +{"episode_index": 124, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 848} +{"episode_index": 125, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 938} +{"episode_index": 126, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 853} +{"episode_index": 127, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 901} +{"episode_index": 128, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 899} +{"episode_index": 129, "tasks": ["Task: Hammer_Nails_v2"], "length": 843} +{"episode_index": 130, "tasks": ["Task: Hammer_Nails_v2"], "length": 799} +{"episode_index": 131, "tasks": ["Task: Hammer_Nails_v2"], "length": 992} +{"episode_index": 132, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 791} +{"episode_index": 133, "tasks": ["Task: Hammer_Nails_v2"], "length": 876} +{"episode_index": 134, "tasks": ["Task: Hammer_Nails_v2"], "length": 1015} +{"episode_index": 135, "tasks": ["Task: Hammer_Nails_v2"], "length": 963} +{"episode_index": 136, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 753} +{"episode_index": 137, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 784} +{"episode_index": 138, "tasks": ["Task: Hammer_Nails_v2"], "length": 980} +{"episode_index": 139, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 773} +{"episode_index": 140, "tasks": ["Task: Hammer_Nails_v2"], "length": 825} +{"episode_index": 141, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 819} +{"episode_index": 142, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 851} +{"episode_index": 143, "tasks": ["Task: Hammer_Nails_v2"], "length": 858} +{"episode_index": 144, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 883} +{"episode_index": 145, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 800} +{"episode_index": 146, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 804} +{"episode_index": 147, "tasks": ["Task: Hammer_Nails_v2"], "length": 880} +{"episode_index": 148, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 1037} +{"episode_index": 149, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 903} +{"episode_index": 150, "tasks": ["Task: Hammer_Nails_v2"], "length": 905} +{"episode_index": 151, "tasks": ["Task: Hammer_Nails_v2"], "length": 947} +{"episode_index": 152, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 1009} +{"episode_index": 153, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 819} +{"episode_index": 154, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 839} +{"episode_index": 155, "tasks": ["Task: Hammer_Nails_v2"], "length": 974} +{"episode_index": 156, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 870} +{"episode_index": 157, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 816} +{"episode_index": 158, "tasks": ["Task: Hammer_Nails_v2"], "length": 1094} +{"episode_index": 159, "tasks": ["Task: Hammer_Nails_v2"], "length": 1033} +{"episode_index": 160, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 863} +{"episode_index": 161, "tasks": ["Task: Hammer_Nails_v2"], "length": 889} +{"episode_index": 162, "tasks": ["Task: Hammer_Nails_v2"], "length": 913} +{"episode_index": 163, "tasks": ["Task: Hammer_Nails_v2"], "length": 952} +{"episode_index": 164, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 918} +{"episode_index": 165, "tasks": ["Task: Hammer_Nails_v2"], "length": 1054} +{"episode_index": 166, "tasks": ["Task: Hammer_Nails_v2"], "length": 1016} +{"episode_index": 167, "tasks": ["Task: Hammer_Nails_v2"], "length": 624} +{"episode_index": 168, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 832} +{"episode_index": 169, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 856} +{"episode_index": 170, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 840} +{"episode_index": 171, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 882} +{"episode_index": 172, "tasks": ["Task: Hammer_Nails_v2"], "length": 877} +{"episode_index": 173, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 1025} +{"episode_index": 174, "tasks": ["Task: Hammer_Nails_v2"], "length": 950} +{"episode_index": 175, "tasks": ["Task: Hammer_Nails_v2"], "length": 924} +{"episode_index": 176, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 790} +{"episode_index": 177, "tasks": ["Task: Hammer_Nails_v2"], "length": 904} +{"episode_index": 178, "tasks": ["Task: Hammer_Nails_v2"], "length": 831} +{"episode_index": 179, "tasks": ["Task: Hammer_Nails_v2"], "length": 963} +{"episode_index": 180, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 857} +{"episode_index": 181, "tasks": ["Task: Hammer_Nails_v2"], "length": 870} +{"episode_index": 182, "tasks": ["Task: Hammer_Nails_v2"], "length": 923} +{"episode_index": 183, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 818} +{"episode_index": 184, "tasks": ["Task: Hammer_Nails_v2"], "length": 685} +{"episode_index": 185, "tasks": ["Task: Hammer_Nails_v2"], "length": 978} +{"episode_index": 186, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 962} +{"episode_index": 187, "tasks": ["Task: Hammer_Nails_v2"], "length": 854} +{"episode_index": 188, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 880} +{"episode_index": 189, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 1167} +{"episode_index": 190, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 937} +{"episode_index": 191, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 819} +{"episode_index": 192, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 753} +{"episode_index": 193, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 841} +{"episode_index": 194, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 923} +{"episode_index": 195, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 807} +{"episode_index": 196, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 899} +{"episode_index": 197, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 847} +{"episode_index": 198, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 825} +{"episode_index": 199, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 785} +{"episode_index": 200, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 879} +{"episode_index": 201, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 811} +{"episode_index": 202, "tasks": ["Task: Hammer_Nails_v2"], "length": 834} +{"episode_index": 203, "tasks": ["Task: Hammer_Nails_v2"], "length": 870} +{"episode_index": 204, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 801} +{"episode_index": 205, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 749} +{"episode_index": 206, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 749} +{"episode_index": 207, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 747} +{"episode_index": 208, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 852} +{"episode_index": 209, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 751} +{"episode_index": 210, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 706} +{"episode_index": 211, "tasks": ["Task: Hammer_Nails_v2"], "length": 809} +{"episode_index": 212, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 703} +{"episode_index": 213, "tasks": ["Task: Hammer_Nails_v2"], "length": 785} +{"episode_index": 214, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 773} +{"episode_index": 215, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 741} +{"episode_index": 216, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 742} +{"episode_index": 217, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 768} +{"episode_index": 218, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 814} +{"episode_index": 219, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 744} +{"episode_index": 220, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 697} +{"episode_index": 221, "tasks": ["Task: Hammer_Nails_v2"], "length": 750} +{"episode_index": 222, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 787} +{"episode_index": 223, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 750} +{"episode_index": 224, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 791} +{"episode_index": 225, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 806} +{"episode_index": 226, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 830} +{"episode_index": 227, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 955} +{"episode_index": 228, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 899} +{"episode_index": 229, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 761} +{"episode_index": 230, "tasks": ["Task: Hammer_Nails_v2"], "length": 893} +{"episode_index": 231, "tasks": ["Task: Hammer_Nails_v2"], "length": 765} +{"episode_index": 232, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 795} +{"episode_index": 233, "tasks": ["Task: Hammer_Nails_v2"], "length": 955} +{"episode_index": 234, "tasks": ["Task: Hammer_Nails_v2"], "length": 865} +{"episode_index": 235, "tasks": ["Task: Hammer_Nails_v2"], "length": 859} +{"episode_index": 236, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 782} +{"episode_index": 237, "tasks": ["Task: Hammer_Nails_v2"], "length": 813} +{"episode_index": 238, "tasks": ["Task: Hammer_Nails_v2"], "length": 912} +{"episode_index": 239, "tasks": ["Task: Hammer_Nails_v2"], "length": 830} +{"episode_index": 240, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 783} +{"episode_index": 241, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 794} +{"episode_index": 242, "tasks": ["Task: Hammer_Nails_v2"], "length": 932} +{"episode_index": 243, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 745} +{"episode_index": 244, "tasks": ["Task: Hammer_Nails_v2"], "length": 876} +{"episode_index": 245, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 868} +{"episode_index": 246, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 820} +{"episode_index": 247, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 722} +{"episode_index": 248, "tasks": ["Task: Hammer_Nails_v2"], "length": 813} +{"episode_index": 249, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 767} +{"episode_index": 250, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 791} +{"episode_index": 251, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 817} +{"episode_index": 252, "tasks": ["Task: Hammer_Nails_v2"], "length": 851} +{"episode_index": 253, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 814} +{"episode_index": 254, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 777} +{"episode_index": 255, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 771} +{"episode_index": 256, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 789} +{"episode_index": 257, "tasks": ["Task: Hammer_Nails_v2"], "length": 876} +{"episode_index": 258, "tasks": ["Task: Hammer_Nails_v2"], "length": 877} +{"episode_index": 259, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 891} +{"episode_index": 260, "tasks": ["Task: Hammer_Nails_v2"], "length": 566} +{"episode_index": 261, "tasks": ["Task: Hammer_Nails_v2"], "length": 1260} +{"episode_index": 262, "tasks": ["Task: Hammer_Nails_v2"], "length": 887} +{"episode_index": 263, "tasks": ["Task: Hammer_Nails_v2"], "length": 820} +{"episode_index": 264, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 787} +{"episode_index": 265, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 848} +{"episode_index": 266, "tasks": ["Task: Hammer_Nails_v2"], "length": 845} +{"episode_index": 267, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 804} +{"episode_index": 268, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 773} +{"episode_index": 269, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 924} +{"episode_index": 270, "tasks": ["Task: Hammer_Nails_v2"], "length": 847} +{"episode_index": 271, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 851} +{"episode_index": 272, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 780} +{"episode_index": 273, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 742} +{"episode_index": 274, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 832} +{"episode_index": 275, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 892} +{"episode_index": 276, "tasks": ["Task: Hammer_Nails_v2"], "length": 853} +{"episode_index": 277, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 791} +{"episode_index": 278, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 857} +{"episode_index": 279, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 894} +{"episode_index": 280, "tasks": ["Task: Hammer_Nails_v2"], "length": 854} +{"episode_index": 281, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 878} +{"episode_index": 282, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 760} +{"episode_index": 283, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 862} +{"episode_index": 284, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 921} +{"episode_index": 285, "tasks": ["Task: Hammer_Nails_v2"], "length": 887} +{"episode_index": 286, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 812} +{"episode_index": 287, "tasks": ["Task: Hammer_Nails_v2"], "length": 908} +{"episode_index": 288, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 824} +{"episode_index": 289, "tasks": ["Task: Hammer_Nails_v2"], "length": 866} +{"episode_index": 290, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 829} +{"episode_index": 291, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 843} +{"episode_index": 292, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 855} +{"episode_index": 293, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 778} +{"episode_index": 294, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 853} +{"episode_index": 295, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 837} +{"episode_index": 296, "tasks": ["Task: Hammer_Nails_v2"], "length": 981} +{"episode_index": 297, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 870} +{"episode_index": 298, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 833} +{"episode_index": 299, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 755} +{"episode_index": 300, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 889} +{"episode_index": 301, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 830} +{"episode_index": 302, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 1026} +{"episode_index": 303, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 849} +{"episode_index": 304, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 837} +{"episode_index": 305, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 810} +{"episode_index": 306, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 768} +{"episode_index": 307, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 808} +{"episode_index": 308, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 855} +{"episode_index": 309, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 823} +{"episode_index": 310, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 863} +{"episode_index": 311, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 915} +{"episode_index": 312, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 867} +{"episode_index": 313, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 809} +{"episode_index": 314, "tasks": ["Task: Hammer_Nails_v2"], "length": 817} +{"episode_index": 315, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 899} +{"episode_index": 316, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 809} +{"episode_index": 317, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 862} +{"episode_index": 318, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 809} +{"episode_index": 319, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 786} +{"episode_index": 320, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 857} +{"episode_index": 321, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 857} +{"episode_index": 322, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 890} +{"episode_index": 323, "tasks": ["Task: Hammer_Nails_v2"], "length": 899} +{"episode_index": 324, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 933} +{"episode_index": 325, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 821} +{"episode_index": 326, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 858} +{"episode_index": 327, "tasks": ["Task: Hammer_Nails_v2"], "length": 898} +{"episode_index": 328, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 900} +{"episode_index": 329, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 927} +{"episode_index": 330, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 905} +{"episode_index": 331, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 1044} +{"episode_index": 332, "tasks": ["Task: Hammer_Nails_v2"], "length": 1064} +{"episode_index": 333, "tasks": ["Task: Hammer_Nails_v2"], "length": 929} +{"episode_index": 334, "tasks": ["Task: Hammer_Nails_v2"], "length": 939} +{"episode_index": 335, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 893} +{"episode_index": 336, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 965} +{"episode_index": 337, "tasks": ["Task: Hammer_Nails_v2"], "length": 1101} +{"episode_index": 338, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 905} +{"episode_index": 339, "tasks": ["Task: Hammer_Nails_v2"], "length": 967} +{"episode_index": 340, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 836} +{"episode_index": 341, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 913} +{"episode_index": 342, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 868} +{"episode_index": 343, "tasks": ["Task: Hammer_Nails_v2"], "length": 1048} +{"episode_index": 344, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 935} +{"episode_index": 345, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 812} +{"episode_index": 346, "tasks": ["Task: Hammer_Nails_v2"], "length": 910} +{"episode_index": 347, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 1132} +{"episode_index": 348, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 1049} +{"episode_index": 349, "tasks": ["Task: Hammer_Nails_v2"], "length": 926} +{"episode_index": 350, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 962} +{"episode_index": 351, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 995} +{"episode_index": 352, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 867} +{"episode_index": 353, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 834} +{"episode_index": 354, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 763} +{"episode_index": 355, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 806} +{"episode_index": 356, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 849} +{"episode_index": 357, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 823} +{"episode_index": 358, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 826} +{"episode_index": 359, "tasks": ["Task: Hammer_Nails_v2"], "length": 918} +{"episode_index": 360, "tasks": ["Task: Hammer_Nails_v2"], "length": 871} +{"episode_index": 361, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 853} +{"episode_index": 362, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 777} +{"episode_index": 363, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 789} +{"episode_index": 364, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 806} +{"episode_index": 365, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 875} +{"episode_index": 366, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 789} +{"episode_index": 367, "tasks": ["Task: Hammer_Nails_v2"], "length": 927} +{"episode_index": 368, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 895} +{"episode_index": 369, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 913} +{"episode_index": 370, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 809} +{"episode_index": 371, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 765} +{"episode_index": 372, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 853} +{"episode_index": 373, "tasks": ["Task: Hammer_Nails_v2"], "length": 861} +{"episode_index": 374, "tasks": ["Task: Hammer_Nails_v2"], "length": 892} +{"episode_index": 375, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 873} +{"episode_index": 376, "tasks": ["Task: Hammer_Nails_v2"], "length": 1052} +{"episode_index": 377, "tasks": ["Task: Hammer_Nails_v2"], "length": 977} +{"episode_index": 378, "tasks": ["Task: Hammer_Nails_v2"], "length": 1310} +{"episode_index": 379, "tasks": ["Task: Hammer_Nails_v2"], "length": 1001} +{"episode_index": 380, "tasks": ["Task: Hammer_Nails_v2"], "length": 907} +{"episode_index": 381, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 926} +{"episode_index": 382, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 818} +{"episode_index": 383, "tasks": ["Task: Hammer_Nails_v2"], "length": 883} +{"episode_index": 384, "tasks": ["Task: Hammer_Nails_v2"], "length": 926} +{"episode_index": 385, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 1073} +{"episode_index": 386, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 807} +{"episode_index": 387, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 820} +{"episode_index": 388, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 827} +{"episode_index": 389, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 918} +{"episode_index": 390, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 778} +{"episode_index": 391, "tasks": ["Task: Hammer_Nails_v2"], "length": 796} +{"episode_index": 392, "tasks": ["Task: Hammer_Nails_v2"], "length": 896} +{"episode_index": 393, "tasks": ["Task: Hammer_Nails_v2"], "length": 857} +{"episode_index": 394, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 793} +{"episode_index": 395, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 958} +{"episode_index": 396, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 859} +{"episode_index": 397, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 801} +{"episode_index": 398, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 848} +{"episode_index": 399, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 749} +{"episode_index": 400, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 1048} +{"episode_index": 401, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 878} +{"episode_index": 402, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 807} +{"episode_index": 403, "tasks": ["Task: Hammer_Nails_v2"], "length": 901} +{"episode_index": 404, "tasks": ["Task: Hammer_Nails_v2"], "length": 887} +{"episode_index": 405, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 826} +{"episode_index": 406, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 853} +{"episode_index": 407, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 882} +{"episode_index": 408, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 883} +{"episode_index": 409, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 776} +{"episode_index": 410, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 817} +{"episode_index": 411, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 787} +{"episode_index": 412, "tasks": ["Task: Hammer_Nails_v2"], "length": 795} +{"episode_index": 413, "tasks": ["Task: Hammer_Nails_v2"], "length": 850} +{"episode_index": 414, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 836} +{"episode_index": 415, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 816} +{"episode_index": 416, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 776} +{"episode_index": 417, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 859} +{"episode_index": 418, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 779} +{"episode_index": 419, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 781} +{"episode_index": 420, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 797} +{"episode_index": 421, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 737} +{"episode_index": 422, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 750} +{"episode_index": 423, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 769} +{"episode_index": 424, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 824} +{"episode_index": 425, "tasks": ["Task: Hammer_Nails_v2"], "length": 836} +{"episode_index": 426, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 772} +{"episode_index": 427, "tasks": ["Task: Hammer_Nails_v2"], "length": 847} +{"episode_index": 428, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 806} +{"episode_index": 429, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 804} +{"episode_index": 430, "tasks": ["Task: Hammer_Nails_v2"], "length": 783} +{"episode_index": 431, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 693} +{"episode_index": 432, "tasks": ["Task: Hammer_Nails_v2"], "length": 792} +{"episode_index": 433, "tasks": ["Task: Hammer_Nails_v2"], "length": 995} +{"episode_index": 434, "tasks": ["Task: Hammer_Nails_v2"], "length": 837} +{"episode_index": 435, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 828} +{"episode_index": 436, "tasks": ["Task: Hammer_Nails_v2"], "length": 834} +{"episode_index": 437, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 781} +{"episode_index": 438, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 805} +{"episode_index": 439, "tasks": ["Task: Hammer_Nails_v2"], "length": 821} +{"episode_index": 440, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 820} +{"episode_index": 441, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 821} +{"episode_index": 442, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 771} +{"episode_index": 443, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 840} +{"episode_index": 444, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 782} +{"episode_index": 445, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 794} +{"episode_index": 446, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 769} +{"episode_index": 447, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 808} +{"episode_index": 448, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 708} +{"episode_index": 449, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 792} +{"episode_index": 450, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 810} +{"episode_index": 451, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 742} +{"episode_index": 452, "tasks": ["Task: Hammer_Nails_v2"], "length": 838} +{"episode_index": 453, "tasks": ["Task: Hammer_Nails_v2"], "length": 1004} +{"episode_index": 454, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 780} +{"episode_index": 455, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 789} +{"episode_index": 456, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 928} +{"episode_index": 457, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 836} +{"episode_index": 458, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 783} +{"episode_index": 459, "tasks": ["Task: Hammer_Nails_v2"], "length": 969} +{"episode_index": 460, "tasks": ["Task: Hammer_Nails_v2"], "length": 930} +{"episode_index": 461, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 770} +{"episode_index": 462, "tasks": ["Task: Hammer_Nails_v2"], "length": 947} +{"episode_index": 463, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 790} +{"episode_index": 464, "tasks": ["Task: Hammer_Nails_v2"], "length": 805} +{"episode_index": 465, "tasks": ["Task: Hammer_Nails_v2"], "length": 1072} +{"episode_index": 466, "tasks": ["Task: Hammer_Nails_v2"], "length": 876} +{"episode_index": 467, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 758} +{"episode_index": 468, "tasks": ["Task: Hammer_Nails_v2"], "length": 859} +{"episode_index": 469, "tasks": ["Task: Hammer_Nails_v2"], "length": 833} +{"episode_index": 470, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 808} +{"episode_index": 471, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 777} +{"episode_index": 472, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 786} +{"episode_index": 473, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 745} +{"episode_index": 474, "tasks": ["Task: Hammer_Nails_v2"], "length": 912} +{"episode_index": 475, "tasks": ["Task: Hammer_Nails_v2"], "length": 936} +{"episode_index": 476, "tasks": ["Task: Hammer_Nails_v2"], "length": 958} +{"episode_index": 477, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 880} +{"episode_index": 478, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 767} +{"episode_index": 479, "tasks": ["Task: Hammer_Nails_v2"], "length": 784} +{"episode_index": 480, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 811} +{"episode_index": 481, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 744} +{"episode_index": 482, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 790} +{"episode_index": 483, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 736} +{"episode_index": 484, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 744} +{"episode_index": 485, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 711} +{"episode_index": 486, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 772} +{"episode_index": 487, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 724} +{"episode_index": 488, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 946} +{"episode_index": 489, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 764} +{"episode_index": 490, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 752} +{"episode_index": 491, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 804} +{"episode_index": 492, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 775} +{"episode_index": 493, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 863} +{"episode_index": 494, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 724} +{"episode_index": 495, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 729} +{"episode_index": 496, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 806} +{"episode_index": 497, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 823} +{"episode_index": 498, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 705} +{"episode_index": 499, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 764} +{"episode_index": 500, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 844} +{"episode_index": 501, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 809} +{"episode_index": 502, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 743} +{"episode_index": 503, "tasks": ["Task: Hammer_Nails_v2"], "length": 835} +{"episode_index": 504, "tasks": ["Task: Hammer_Nails_v2"], "length": 772} +{"episode_index": 505, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 769} +{"episode_index": 506, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 1020} +{"episode_index": 507, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 793} +{"episode_index": 508, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 828} +{"episode_index": 509, "tasks": ["Task: Hammer_Nails_v2"], "length": 776} +{"episode_index": 510, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 839} +{"episode_index": 511, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 831} +{"episode_index": 512, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 803} +{"episode_index": 513, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 803} +{"episode_index": 514, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 807} +{"episode_index": 515, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 819} +{"episode_index": 516, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 895} +{"episode_index": 517, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 769} +{"episode_index": 518, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 833} +{"episode_index": 519, "tasks": ["Task: Hammer_Nails_v2"], "length": 964} +{"episode_index": 520, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 806} +{"episode_index": 521, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 743} +{"episode_index": 522, "tasks": ["Task: Hammer_Nails_v2"], "length": 957} +{"episode_index": 523, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 846} +{"episode_index": 524, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 771} +{"episode_index": 525, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 920} +{"episode_index": 526, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 809} +{"episode_index": 527, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 769} +{"episode_index": 528, "tasks": ["Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."], "length": 851} +{"episode_index": 529, "tasks": ["Task: Hammer_Nails_v2"], "length": 908} diff --git a/hammer_nails/season_POC22048_2026_05_22_10_21_37_train/lerobot_v2.1/meta/episodes_stats.jsonl b/hammer_nails/season_POC22048_2026_05_22_10_21_37_train/lerobot_v2.1/meta/episodes_stats.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..0cb01155292bd3e12d48ef1fe8a4fee8f447649e --- /dev/null +++ b/hammer_nails/season_POC22048_2026_05_22_10_21_37_train/lerobot_v2.1/meta/episodes_stats.jsonl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9d7af4f33442cdace987e7c36bc42509e778d2fd0bf11595cf3413b5010c6ed0 +size 13708843 diff --git a/hammer_nails/season_POC22048_2026_05_22_10_21_37_train/lerobot_v2.1/meta/info.json b/hammer_nails/season_POC22048_2026_05_22_10_21_37_train/lerobot_v2.1/meta/info.json new file mode 100644 index 0000000000000000000000000000000000000000..5763cd43eec46fb7eca79682693bd799467df9b5 --- /dev/null +++ b/hammer_nails/season_POC22048_2026_05_22_10_21_37_train/lerobot_v2.1/meta/info.json @@ -0,0 +1,537 @@ +{ + "codebase_version": "v2.1", + "robot_type": "robot", + "total_episodes": 530, + "total_frames": 467045, + "total_tasks": 2, + "total_videos": 3180, + "total_chunks": 1, + "chunks_size": 1000, + "fps": 30, + "splits": { + "train": "0:530" + }, + "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", + 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"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", + 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"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/hammer_nails/season_POC22048_2026_05_22_10_21_37_train/lerobot_v2.1/meta/modality.json b/hammer_nails/season_POC22048_2026_05_22_10_21_37_train/lerobot_v2.1/meta/modality.json new file mode 100644 index 0000000000000000000000000000000000000000..a05578e69b2f67b344bf8b72976a7471c3174013 --- /dev/null +++ b/hammer_nails/season_POC22048_2026_05_22_10_21_37_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/hammer_nails/season_POC22048_2026_05_22_10_21_37_train/lerobot_v2.1/meta/subtasks.jsonl b/hammer_nails/season_POC22048_2026_05_22_10_21_37_train/lerobot_v2.1/meta/subtasks.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..2de4fbfef72ac1eb796697e773c526ba31ea8d5d --- /dev/null +++ b/hammer_nails/season_POC22048_2026_05_22_10_21_37_train/lerobot_v2.1/meta/subtasks.jsonl @@ -0,0 +1,2065 @@ +{"subtask_index": 0, "subtask": "Pick up the hammer from the table with the right hand. | Skill: pick"} +{"subtask_index": 1, "subtask": "Hammer down the first nail with the right hand. | Skill: press"} +{"subtask_index": 2, "subtask": "Hammer down the second nail with the right hand. | Skill: press"} +{"subtask_index": 3, "subtask": "Place the hammer back on the table with the right hand. | Skill: place"} +{"subtask_index": 4, "subtask": "Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. Hammer down the first nail with the right hand. Then hammer down the second nail with the right hand. Finally, place the hammer back on the table. | Scene: A hammer and two nails are placed on the table. The robot needs to pick up the hammer, drive the first nail down, then drive the second nail down, and finally place the hammer back. | Success: Both nails are hammered down securely, and the hammer is placed back stably on the table."} +{"subtask_index": 5, "subtask": "Task: Hammer_Nails_v2"} +{"subtask_index": 6, "subtask": "Right hand: reach: Right hand moves leftward from the right edge of the frame toward the yellow mallet on the black mat."} +{"subtask_index": 7, "subtask": "Right hand: grasp: Right hand grasps the yellow head of the mallet on the black mat, with fingers adjusting to form a stable grip."} +{"subtask_index": 8, "subtask": "Right hand: grasp: Right hand closes and adjusts its fingers to grasp the wooden handle of the yellow mallet resting on the black table."} +{"subtask_index": 9, "subtask": "Right hand: lift: Right hand lifts the yellow mallet with a wooden handle upward from the black textured mat surface."} +{"subtask_index": 10, "subtask": "Right hand: transport: Right hand transports the yellow mallet leftward to the position above the wooden pegboard with green corner pegs."} +{"subtask_index": 11, "subtask": "Right hand: press: Right hand presses the green peg on the left rear of the wooden base with the yellow mallet, moving downward to apply force."} +{"subtask_index": 12, "subtask": "Right hand: lift_transport: Right hand lifts the yellow mallet off the green peg and moves upward slightly while holding the mallet."} +{"subtask_index": 13, "subtask": "Right hand: press: Right hand moves the yellow mallet downward to press the green peg on the wooden base again."} +{"subtask_index": 14, "subtask": "Right hand: hold: Right hand holds the yellow mallet with its head resting on the green peg without moving."} +{"subtask_index": 15, "subtask": "Right hand: transport: Right hand transports the wooden mallet with yellow head rightward."} +{"subtask_index": 16, "subtask": "Right hand: release: Right hand releases the yellow-headed wooden mallet on the black textured table by gradually opening its fingers."} +{"subtask_index": 17, "subtask": "Right hand: retreat: Right hand, which is empty, moves upward and rightward away from the wooden mallet on the black textured mat toward the top right edge of the frame."} +{"subtask_index": 18, "subtask": "Left hand: idle: Left hand remains empty at the left edge of the frame with no visible movement throughout the segment. | Right hand: idle: Right hand remains empty at the top-right edge of the frame without any visible movement."} +{"subtask_index": 19, "subtask": "Left hand: idle: Left hand remains empty at the left edge of the frame with no visible movement throughout the segment. | Right hand: reach: Right hand moves down-left from the top-right edge of the frame toward the wooden hammer, approaching the wooden handle of the hammer without making stable contact."} +{"subtask_index": 20, "subtask": "Left hand: idle: Left hand remains empty at the left edge of the frame with no visible movement throughout the segment. | Right hand: grasp: Right hand closes fingers around the wooden handle of the hammer, adjusting finger contact positions to form a stable grip, with the hammer remaining stationary on the black supporting mat."} +{"subtask_index": 21, "subtask": "Left hand: idle: Left hand remains empty at the left edge of the frame with no visible movement throughout the segment. | Right hand: lift: Right hand grips the hammer handle and moves upward, lifting the hammer so that its yellow head gradually separates from the black supporting surface."} +{"subtask_index": 22, "subtask": "Left hand: idle: Left hand remains empty at the left edge of the frame with no visible movement throughout the segment. | Right hand: grasp: Right hand adjusts its grip on the wooden handle of the yellow-headed hammer, repositioning fingers to stabilize the hold while the hammer remains resting on the black work surface."} +{"subtask_index": 23, "subtask": "Left hand: idle: Left hand remains empty at the left edge of the frame with no visible movement throughout the segment. | Right hand: lift: Right hand lifts the gripped yellow-headed hammer upward, fully raising it off the black work surface."} +{"subtask_index": 24, "subtask": "Left hand: idle: Left hand remains empty at the left edge of the frame with no visible movement throughout the segment. | Right hand: transport: Right hand transports the lifted hammer leftward through the air toward the central wooden peg toy, adjusting position to align the hammer head over the red peg on the toy."} +{"subtask_index": 25, "subtask": "Left hand: idle: Left hand remains empty at the left edge of the frame with no visible movement throughout the segment. | Right hand: hold: Right hand holds the yellow-headed hammer steadily in position above the red peg on the central wooden peg toy, with no observable movement of the hand or hammer."} +{"subtask_index": 26, "subtask": "Left hand: idle: Left hand remains empty at the left edge of the frame with no visible movement throughout the segment. | Right hand: grasp: Right hand adjusts its fingers around the wooden hammer handle to stabilize grip on the tool."} +{"subtask_index": 27, "subtask": "Left hand: idle: Left hand remains empty at the left edge of the frame with no visible movement throughout the segment. | Right hand: lift: Right hand lifts the wooden hammer upward, moving the yellow hammer head away from the yellow cylindrical peg on the wooden board."} +{"subtask_index": 28, "subtask": "Left hand: idle: Left hand remains empty at the left edge of the frame with no visible movement throughout the segment. | Right hand: hold: Right hand holds the lifted wooden hammer stationary in the raised position above the yellow cylindrical peg."} +{"subtask_index": 29, "subtask": "Left hand: idle: Left hand remains empty at the left edge of the frame with no visible movement throughout the segment. | Right hand: transport_press: Right hand carries the wooden hammer downward toward the yellow cylindrical peg, pressing the hammer head against the peg to deliver a tap."} +{"subtask_index": 30, "subtask": "Left hand: idle: Left hand remains empty at the left edge of the frame with no visible movement throughout the segment. | Right hand: lift: Right hand lifts the wooden hammer upward again, moving the yellow hammer head away from the yellow cylindrical peg following the tap."} +{"subtask_index": 31, "subtask": "Left hand: idle: Left hand remains empty at the left edge of the frame with no visible movement throughout the segment. | Right hand: lift_transport: Right hand grips the wooden hammer with a yellow head, lifts it off the green support post of the wooden peg toy and moves it horizontally rightward to the area above the right side of the black work surface."} +{"subtask_index": 32, "subtask": "Left hand: idle: Left hand remains empty at the left edge of the frame with no visible movement throughout the segment. | Right hand: place_release: Right hand lowers the wooden hammer to rest on the black work surface, adjusts its orientation to lie flat and opens fingers to release the hammer completely."} +{"subtask_index": 33, "subtask": "Left hand: idle: Left hand remains empty at the left edge of the frame with no visible movement throughout the segment. | Right hand: retreat: Right hand moves empty upward and rightward away from the placed hammer, retreating from the operation area."} +{"subtask_index": 34, "subtask": "Left hand: idle: Left hand remains empty at the left edge of the frame with no visible movement throughout the segment."} +{"subtask_index": 35, "subtask": "Right hand: reach: Right hand enters from the right edge of the frame and moves toward the yellow hammer on the black mat."} +{"subtask_index": 36, "subtask": "Right hand: grasp: Right hand adjusts its fingers to grasp the handle of the yellow hammer."} +{"subtask_index": 37, "subtask": "Right hand: hold: Right hand holds the yellow hammer on the black mat without moving."} +{"subtask_index": 38, "subtask": "Right hand: grasp: Right hand adjusts its grip on the wooden handle of the yellow hammer to form a stable grasp."} +{"subtask_index": 39, "subtask": "Right hand: lift: Right hand lifts the yellow hammer off the black mat supporting surface."} +{"subtask_index": 40, "subtask": "Right hand: transport: Right hand moves the yellow hammer towards the wooden board, positioning the yellow hammer head above the board."} +{"subtask_index": 41, "subtask": "Right hand: press: Right hand presses the red peg with the yellow head of the held hammer."} +{"subtask_index": 42, "subtask": "Right hand: hold: Right hand holds the hammer stationary above the red peg."} +{"subtask_index": 43, "subtask": "Right hand: transport: Right hand transports the held hammer upward away from the red peg."} +{"subtask_index": 44, "subtask": "Right hand: transport: Right hand transports the held hammer downward toward the red peg."} +{"subtask_index": 45, "subtask": "Right hand: transport: Right hand transports the yellow-headed hammer towards the right side of the black mat."} +{"subtask_index": 46, "subtask": "Right hand: place_release: Right hand places the yellow-headed hammer on the black mat and releases its grip on the hammer handle."} +{"subtask_index": 47, "subtask": "Right hand: retreat: Right hand retreats away from the placed hammer towards the right side."} +{"subtask_index": 48, "subtask": "Right hand: reach: Right hand moves down left from the top right of the frame toward the yellow hammer placed on the black mat to the right of the wooden peg board."} +{"subtask_index": 49, "subtask": "Right hand: grasp: Right hand closes its fingers around the wooden handle of the yellow hammer to adjust and form a stable grasp."} +{"subtask_index": 50, "subtask": "Right hand: grasp: Right hand adjusts fingers to stably grasp the wooden handle of the yellow hammer on the black mat."} +{"subtask_index": 51, "subtask": "Right hand: lift: Right hand lifts the yellow hammer off the black mat surface until it is fully suspended."} +{"subtask_index": 52, "subtask": "Right hand: transport: Right hand carries the yellow hammer and moves it toward the wooden perforated plate with green legs."} +{"subtask_index": 53, "subtask": "Right hand: press: Right hand moves the yellow hammer downward to hit the red peg on the wooden peg board."} +{"subtask_index": 54, "subtask": "Right hand: transport: Right hand moves the yellow hammer upward away from the red peg."} +{"subtask_index": 55, "subtask": "Right hand: transport: Right hand transports the yellow hammer with wooden handle from above the wooden peg board to the right side of the board."} +{"subtask_index": 56, "subtask": "Right hand: reorient: Right hand adjusts the orientation of the yellow hammer, rotating it slightly to make the yellow head face downward towards the mat."} +{"subtask_index": 57, "subtask": "Right hand: hold: Right hand holds the yellow hammer steady at the right side of the wooden peg board without moving."} +{"subtask_index": 58, "subtask": "Right hand: place_release: Right hand places the yellow hammer on the black mat at the right side of the wooden peg board, then releases its grasp on the hammer handle."} +{"subtask_index": 59, "subtask": "Right hand: retreat: Right hand moves away from the placed yellow hammer towards the upper right direction."} +{"subtask_index": 60, "subtask": "Right hand: reach: Right hand moves leftward from the right frame edge toward the wooden handle of the yellow hammer, fingers held slightly open while approaching the target."} +{"subtask_index": 61, "subtask": "Right hand: grasp: Right hand closes its fingers around the wooden handle of the yellow hammer resting on the black work surface, making small adjustments to finger position to form a grip on the handle."} +{"subtask_index": 62, "subtask": "Right hand: grasp: Right hand adjusts its fingers to close around the wooden mallet handle, sliding the mallet slightly right on the black fabric supporting surface."} +{"subtask_index": 63, "subtask": "Right hand: lift: Right hand lifts the grasped wooden mallet upward until the mallet is completely off the black fabric surface."} +{"subtask_index": 64, "subtask": "Right hand: transport: Right hand moves the lifted wooden mallet leftward toward the wooden peg platform, positioning the mallet above the platform."} +{"subtask_index": 65, "subtask": "Right hand: place: Right hand lowers the wooden mallet vertically downward to place it onto the wooden peg platform, until the mallet is stably supported by the platform."} +{"subtask_index": 66, "subtask": "Right hand: hold: Right hand holds the wooden handle of the mallet steadily, keeping the mallet stationary above the wooden peg board with no observable movement."} +{"subtask_index": 67, "subtask": "Right hand: press: Right hand moves the mallet vertically downward, applying continuous downward force to press the yellow mallet head onto the green peg on the wooden board."} +{"subtask_index": 68, "subtask": "Right hand: reorient: Right hand tilts the mallet slightly toward the left, rotating it around its contact point with the board to change the mallet's orientation."} +{"subtask_index": 69, "subtask": "Right hand: transport: Right hand grips the wooden handle of the yellow mallet and moves the mallet horizontally across the peg board to position the yellow mallet head directly above the red peg."} +{"subtask_index": 70, "subtask": "Right hand: grasp: Right hand adjusts its finger positions on the wooden mallet handle slightly to stabilize the grip and maintain precise alignment of the mallet head over the red peg, with minimal mallet movement."} +{"subtask_index": 71, "subtask": "Right hand: press: Right hand moves the yellow mallet vertically downward to press the mallet head against the red peg, applying downward force to tap the peg."} +{"subtask_index": 72, "subtask": "Right hand: lift: Right hand lifts the yellow mallet vertically upward, raising the mallet head away from the surface of the red peg after the tap."} +{"subtask_index": 73, "subtask": "Right hand: lift_transport: Right hand holds the yellow-headed wooden mallet, lifts it clear of the adjacent wooden peg toy, and carries it horizontally rightward to the area above the right black work mat."} +{"subtask_index": 74, "subtask": "Right hand: place: Right hand lowers the held mallet vertically downward until the mallet rests stably on the black work mat."} +{"subtask_index": 75, "subtask": "Right hand: release_retreat: Right hand opens its fingers to release grip on the mallet handle, moving the empty hand upward away from the mallet on the mat."} +{"subtask_index": 76, "subtask": "Right hand: reach: Right hand enters from the right side of the frame, moving left and downward toward the yellow-headed hammer on the black textured mat."} +{"subtask_index": 77, "subtask": "Right hand: grasp: Right hand makes contact with the yellow head of the hammer, with fingers and wrist adjusting to form a stable grip on the hammer head."} +{"subtask_index": 78, "subtask": "Right hand: lift: Right hand lifts the yellow-headed mallet upward from the black textured mat, with the mallet rotating slightly around its yellow head end during the process."} +{"subtask_index": 79, "subtask": "Right hand: transport: Right hand transports the yellow-headed mallet leftward to the upper area of the wooden pegboard."} +{"subtask_index": 80, "subtask": "Right hand: press: Right hand presses the green peg on the wooden board downward with the yellow-headed wooden hammer, pushing the peg slightly into the board hole."} +{"subtask_index": 81, "subtask": "Right hand: reorient: Right hand rotates the yellow-headed wooden hammer upward, lifting the hammer head slightly away from the peg top."} +{"subtask_index": 82, "subtask": "Right hand: press: Right hand presses the green peg on the wooden board downward with the yellow-headed wooden hammer, pushing the peg further into the board hole."} +{"subtask_index": 83, "subtask": "Right hand: lift: Right hand lifts the yellow-headed mallet up from the wooden board."} +{"subtask_index": 84, "subtask": "Right hand: transport: Right hand transports the yellow-headed mallet rightward and upward over the black textured mat."} +{"subtask_index": 85, "subtask": "Right hand: place_release: Right hand lowers the yellow-headed mallet to the black textured mat and releases its grip on the wooden handle."} +{"subtask_index": 86, "subtask": "Right hand: retreat: Right hand retreats rightward away from the mallet resting on the black textured mat."} +{"subtask_index": 87, "subtask": "Left hand: idle: Left hand remains partially visible at the left edge of the frame, empty and without any movement throughout the interval. | Right hand: idle: Right hand remains partially visible at the top right edge of the frame, empty and without any movement."} +{"subtask_index": 88, "subtask": "Left hand: idle: Left hand remains partially visible at the left edge of the frame, empty and without any movement throughout the interval. | Right hand: reach: Right hand moves downward from the top right of the frame toward the wooden handle of the yellow mallet, staying out of contact with the handle."} +{"subtask_index": 89, "subtask": "Left hand: idle: Left hand remains partially visible at the left edge of the frame, empty and without any movement throughout the interval. | Right hand: grasp: Right hand makes contact with the wooden handle of the yellow mallet, closing fingers and making small adjustments to form a grip on the handle."} +{"subtask_index": 90, "subtask": "Left hand: idle: Left hand remains partially visible at the left edge of the frame, empty and without any movement throughout the interval."} +{"subtask_index": 91, "subtask": "Left hand: idle: Left hand remains partially visible at the left edge of the frame, empty and without any movement throughout the interval. | Right hand: grasp: Right hand adjusts finger positions around the wooden handle of the yellow mallet, closing fingers to form a stable grasp while the mallet rests on the black supporting surface."} +{"subtask_index": 92, "subtask": "Left hand: idle: Left hand remains partially visible at the left edge of the frame, empty and without any movement throughout the interval. | Right hand: lift_transport: Right hand maintains a firm grip on the yellow mallet, lifts it off the black supporting surface and moves it leftward toward the wooden peg toy."} +{"subtask_index": 93, "subtask": "Left hand: idle: Left hand remains partially visible at the left edge of the frame, empty and without any movement throughout the interval. | Right hand: grasp: Right hand slightly adjusts finger positions and wrist posture to stabilize its grip on the wooden handle of the yellow-headed mallet."} +{"subtask_index": 94, "subtask": "Left hand: idle: Left hand remains partially visible at the left edge of the frame, empty and without any movement throughout the interval. | Right hand: hold: Right hand holds the yellow-headed wooden mallet steady on the wooden peg of the wooden toy without any visible movement."} +{"subtask_index": 95, "subtask": "Left hand: idle: Left hand remains partially visible at the left edge of the frame, empty and without any movement throughout the interval. | Right hand: press: Right hand holds the yellow-headed wooden mallet and applies vertical downward pressure on the wooden peg, moving the mallet slowly downward to press the peg into the wooden toy base."} +{"subtask_index": 96, "subtask": "Left hand: idle: Left hand remains partially visible at the left edge of the frame, empty and without any movement throughout the interval. | Right hand: hold: Right hand holds the yellow-headed wooden mallet in the lowered position without any visible movement."} +{"subtask_index": 97, "subtask": "Left hand: idle: Left hand remains partially visible at the left edge of the frame, empty and without any movement throughout the interval. | Right hand: transport: Right hand holds the yellow-headed wooden mallet and moves it slightly vertically upward along the wooden peg."} +{"subtask_index": 98, "subtask": "Left hand: idle: Left hand remains partially visible at the left edge of the frame, empty and without any movement throughout the interval. | Right hand: lift: Right hand holds the yellow-headed wooden mallet and lifts it upward until it completely separates from the wooden peg toy structure."} +{"subtask_index": 99, "subtask": "Left hand: idle: Left hand remains partially visible at the left edge of the frame, empty and without any movement throughout the interval. | Right hand: transport: Right hand carries the lifted yellow-headed wooden mallet, moving it horizontally rightward through the air to the area above the right section of the black work surface."} +{"subtask_index": 100, "subtask": "Left hand: idle: Left hand remains partially visible at the left edge of the frame, empty and without any movement throughout the interval. | Right hand: place_release: Right hand lowers the yellow-headed wooden mallet onto the black work surface to be supported by the surface, with fingers opening to release contact with the mallet handle."} +{"subtask_index": 101, "subtask": "Left hand: idle: Left hand remains partially visible at the left edge of the frame, empty and without any movement throughout the interval. | Right hand: idle: Right hand stays empty above the right side of the placed mallet, with no observable movement of the hand or fingers."} +{"subtask_index": 102, "subtask": "Left hand: idle: Left hand remains empty at the left edge of the frame without moving. | Right hand: reach: Right hand enters from the top-right edge of the frame, moves downward toward the wooden mallet on the right black surface, staying empty as it approaches the mallet's wooden handle."} +{"subtask_index": 103, "subtask": "Left hand: idle: Left hand remains empty at the left edge of the frame without moving. | Right hand: grasp: Right hand makes contact with the wooden handle of the mallet, fingers close and make minor adjustments to establish grip on the handle, with slight wrist movement during the process while the mallet remains on the supporting surface."} +{"subtask_index": 104, "subtask": "Left hand: idle: Left hand remains empty at the left edge of the frame without moving. | Right hand: grasp: Right hand adjusts and closes fingers around the wooden handle of the mallet resting on the black work surface to form a stable grip."} +{"subtask_index": 105, "subtask": "Left hand: idle: Left hand remains empty at the left edge of the frame without moving. | Right hand: lift: Right hand lifts the grasped mallet slightly upward until the entire mallet is fully raised off the black work surface."} +{"subtask_index": 106, "subtask": "Left hand: idle: Left hand remains empty at the left edge of the frame without moving. | Right hand: transport: Right hand moves the lifted mallet leftward and downward through the air, positioning it above the red peg on the wooden peg board."} +{"subtask_index": 107, "subtask": "Left hand: idle: Left hand remains empty at the left edge of the frame without moving. | Right hand: place: Right hand lowers the mallet downward until the mallet head rests on the red peg and is supported by the wooden peg board."} +{"subtask_index": 108, "subtask": "Left hand: idle: Left hand remains empty at the left edge of the frame without moving. | Right hand: hold: Right hand holds the mallet steadily on the red peg with no observable movement of the hand or mallet."} +{"subtask_index": 109, "subtask": "Left hand: idle: Left hand remains empty at the left edge of the frame without moving. | Right hand: press: Right hand holds the mallet and performs repeated short vertical up-and-down motions, pressing the wooden peg downward against the perforated wooden toy with the yellow mallet head."} +{"subtask_index": 110, "subtask": "Left hand: idle: Left hand remains empty at the left edge of the frame without moving. | Right hand: hold: Right hand holds the mallet steadily, with the yellow mallet head resting against the wooden peg on the perforated wooden toy without any observable movement."} +{"subtask_index": 111, "subtask": "Left hand: idle: Left hand remains empty at the left edge of the frame without moving. | Right hand: grasp: Right hand adjusts finger positions around the wooden mallet handle to form a stable grip."} +{"subtask_index": 112, "subtask": "Left hand: idle: Left hand remains empty at the left edge of the frame without moving. | Right hand: hold: Right hand holds the wooden mallet steadily against the wooden peg board without observable movement of the hand or mallet."} +{"subtask_index": 113, "subtask": "Left hand: idle: Left hand remains empty at the left edge of the frame without moving. | Right hand: transport: Right hand shifts the gripped wooden mallet horizontally to move the yellow mallet head across the peg board surface."} +{"subtask_index": 114, "subtask": "Left hand: idle: Left hand remains empty at the left edge of the frame without moving. | Right hand: lift: Right hand grips the wooden mallet and lifts it upward to completely separate it from the wooden peg board surface."} +{"subtask_index": 115, "subtask": "Left hand: idle: Left hand remains empty at the left edge of the frame without moving. | Right hand: transport: Right hand holds the lifted wooden mallet and moves it rightward across the black mat to the area to the right of the peg board."} +{"subtask_index": 116, "subtask": "Left hand: idle: Left hand remains empty at the left edge of the frame without moving. | Right hand: place_release: Right hand lowers the wooden mallet onto the black mat, opening fingers to release the mallet to rest stably on the mat surface."} +{"subtask_index": 117, "subtask": "Left hand: idle: Left hand remains empty at the left edge of the frame without moving. | Right hand: retreat: Right hand moves empty upward and rightward away from the released mallet toward the edge of the visible frame."} +{"subtask_index": 118, "subtask": "Left hand: idle: Left hand remains empty at the left edge of the frame without moving. | Right hand: idle: Right hand stays out of the visible frame, empty and without observable movement."} +{"subtask_index": 119, "subtask": "Right hand: reach_grasp: Right hand reaches leftward from the top-right edge of the frame toward the yellow hammer on the black mat and grasps its yellow head."} +{"subtask_index": 120, "subtask": "Right hand: grasp: Right hand grasps the wooden handle of the yellow hammer on the black textured mat, adjusting its fingers to stabilize the grip."} +{"subtask_index": 121, "subtask": "Right hand: grasp: Right hand adjusts its grip on the wooden handle of the yellow hammer resting on the black mat, with fingers closing to form a stable grasp."} +{"subtask_index": 122, "subtask": "Right hand: lift: Right hand lifts the yellow hammer upward off the black mat until the hammer completely leaves the supporting surface."} +{"subtask_index": 123, "subtask": "Right hand: transport: Right hand transports the yellow hammer leftward while slightly adjusting its angle, moving it to the area beside the wooden pegboard with green legs."} +{"subtask_index": 124, "subtask": "Right hand: transport: Right hand grips the wooden handle of the yellow hammer and moves it downward toward the green peg on the perforated wooden board."} +{"subtask_index": 125, "subtask": "Right hand: press: Right hand presses the yellow hammer downward against the green peg to apply vertical force on the peg."} +{"subtask_index": 126, "subtask": "Right hand: lift_transport: Right hand lifts the yellow hammer upward from the left hole of the wooden board and transports it rightward to the right hole of the board."} +{"subtask_index": 127, "subtask": "Right hand: hold: Right hand holds the yellow hammer in the right hole of the wooden board without moving."} +{"subtask_index": 128, "subtask": "Right hand: transport: Right hand transports the wooden hammer with a yellow head downward toward the red peg on the perforated wooden board."} +{"subtask_index": 129, "subtask": "Right hand: press: Right hand presses the red peg on the wooden board downward with the yellow head of the hammer."} +{"subtask_index": 130, "subtask": "Right hand: lift_transport: Right hand lifts the yellow hammer upward off the yellow cylindrical peg on the wooden board, and moves it rightward in the air."} +{"subtask_index": 131, "subtask": "Right hand: place: Right hand moves the yellow hammer downward and places it on the black textured surface at the right side of the scene."} +{"subtask_index": 132, "subtask": "Right hand: release: Right hand releases the yellow hammer on the black mat, with fingers opening and separating from the hammer."} +{"subtask_index": 133, "subtask": "Right hand: retreat: Right empty hand moves upward and rightward, exiting the frame completely."} +{"subtask_index": 134, "subtask": "Right hand: reach: Right hand moves from the top-right of the frame towards the yellow hammer on the black mat, without touching the hammer."} +{"subtask_index": 135, "subtask": "Right hand: grasp: Right hand touches the wooden handle of the yellow hammer, fingers close and adjust to form a grasp on the hammer."} +{"subtask_index": 136, "subtask": "Right hand: grasp: Right hand adjusts its grip on the yellow hammer on the black mat to form a stable grasp."} +{"subtask_index": 137, "subtask": "Right hand: lift: Right hand lifts the yellow hammer off the black mat."} +{"subtask_index": 138, "subtask": "Right hand: transport: Right hand transports the yellow hammer leftward toward the red peg on the wooden board."} +{"subtask_index": 139, "subtask": "Right hand: grasp: Right hand adjusts its fingers to form a stable grasp on the wooden handle of the yellow hammer."} +{"subtask_index": 140, "subtask": "Right hand: lift: Right hand lifts the yellow hammer away from the supporting wooden toy surface."} +{"subtask_index": 141, "subtask": "Right hand: transport: Right hand moves the yellow hammer to a position above the green peg on the wooden toy."} +{"subtask_index": 142, "subtask": "Right hand: other:hit_green_peg: Right hand repeatedly hits the green peg on the wooden toy with the yellow hammer head."} +{"subtask_index": 143, "subtask": "Right hand: transport: Right hand transports the yellow hammer rightward above the black table surface."} +{"subtask_index": 144, "subtask": "Right hand: reorient: Right hand reorients the yellow hammer by rotating it slightly to make the yellow hammer head face left."} +{"subtask_index": 145, "subtask": "Right hand: hold: Right hand holds the yellow hammer at the upper right side of the perforated wooden board without moving."} +{"subtask_index": 146, "subtask": "Right hand: release: Right hand releases its grip on the wooden handle of the yellow hammer, the hammer falls onto the black mat."} +{"subtask_index": 147, "subtask": "Right hand: retreat: Right hand moves backward away from the hammer with empty hand."} +{"subtask_index": 148, "subtask": "Left hand: idle: Left hand remains at the left edge of the visible frame, empty and without any observable movement throughout the segment. | Right hand: idle: Right hand stays at the top-right edge of the frame, empty and without observable movement toward the target object."} +{"subtask_index": 149, "subtask": "Left hand: idle: Left hand remains at the left edge of the visible frame, empty and without any observable movement throughout the segment. | Right hand: reach: Right hand moves downward from the top-right edge of the frame toward the wooden handle of the yellow-headed hammer placed on the black mat, approaching the handle without forming a grasp."} +{"subtask_index": 150, "subtask": "Left hand: idle: Left hand remains at the left edge of the visible frame, empty and without any observable movement throughout the segment. | Right hand: grasp: Right hand closes fingers around the wooden handle of the yellow-headed hammer, making small adjustments to finger positions to establish a stable grip, with the hammer remaining on the black supporting mat."} +{"subtask_index": 151, "subtask": "Left hand: idle: Left hand remains at the left edge of the visible frame, empty and without any observable movement throughout the segment. | Right hand: grasp: Right hand adjusts its fingers around the wooden hammer handle to form a stable grip, while the hammer lies horizontally on the black mat with its yellow head positioned to the left."} +{"subtask_index": 152, "subtask": "Left hand: idle: Left hand remains at the left edge of the visible frame, empty and without any observable movement throughout the segment. | Right hand: lift: Right hand lifts the grasped hammer upward while rotating it about 90 degrees to a near-vertical orientation, until the entire hammer is fully separated from the black mat surface."} +{"subtask_index": 153, "subtask": "Left hand: idle: Left hand remains at the left edge of the visible frame, empty and without any observable movement throughout the segment. | Right hand: transport: Right hand moves the airborne, near-vertical hammer leftward toward the wooden peg toy, making small positional and orientation adjustments as it travels."} +{"subtask_index": 154, "subtask": "Left hand: idle: Left hand remains at the left edge of the visible frame, empty and without any observable movement throughout the segment. | Right hand: place: Right hand lowers the hammer and aligns its yellow head over the red peg on the toy, until the hammer head rests on the peg and the lower handle end contacts the mat for stable support."} +{"subtask_index": 155, "subtask": "Left hand: idle: Left hand remains at the left edge of the visible frame, empty and without any observable movement throughout the segment. | Right hand: grasp: Right hand adjusts finger positions on the wooden hammer handle to form a stable grip, slightly shifting the handle to align the yellow hammer head with the red peg on the wooden pegboard."} +{"subtask_index": 156, "subtask": "Left hand: idle: Left hand remains at the left edge of the visible frame, empty and without any observable movement throughout the segment. | Right hand: press: Right hand holds the wooden hammer handle, applies continuous vertical downward pressure to press the yellow hammer head down onto the red peg."} +{"subtask_index": 157, "subtask": "Left hand: idle: Left hand remains at the left edge of the visible frame, empty and without any observable movement throughout the segment. | Right hand: lift: Right hand grips the wooden hammer handle, moves vertically upward to lift the hammer, separating the yellow hammer head from the pegboard surface and the lower end of the wooden handle from the underlying black mat."} +{"subtask_index": 158, "subtask": "Left hand: idle: Left hand remains at the left edge of the visible frame, empty and without any observable movement throughout the segment. | Right hand: lift_transport: Right hand grips the wooden handle of the hammer, lifts the hammer away from the wooden platform, moves the hammer rightward through the air to the space above the black mat to the right of the platform."} +{"subtask_index": 159, "subtask": "Left hand: idle: Left hand remains at the left edge of the visible frame, empty and without any observable movement throughout the segment. | Right hand: place_release: Right hand lowers the hammer onto the black mat, opens fingers to release the hammer, leaving the hammer resting stably on the mat surface."} +{"subtask_index": 160, "subtask": "Left hand: idle: Left hand remains at the left edge of the visible frame, empty and without any observable movement throughout the segment. | Right hand: idle: Right hand remains empty above the resting hammer without visible movement."} +{"subtask_index": 161, "subtask": "Left hand: idle: Left hand remains at the left edge of the visible frame, empty and without any observable movement throughout the segment. | Right hand: retreat: Right hand moves upward without holding any object, and exits almost completely out of the top-right edge of the frame."} +{"subtask_index": 162, "subtask": "Left hand: idle: Left hand remains at the left edge of the visible frame, empty and without any observable movement throughout the segment."} +{"subtask_index": 163, "subtask": "Right hand: reach: Right hand moves downward from the top right edge of the frame toward the wooden mallet, with fingers open and extended, remaining empty as it approaches the mallet's wooden handle."} +{"subtask_index": 164, "subtask": "Right hand: grasp: Right hand closes its fingers around the wooden mallet handle, adjusting finger contact points to establish a grip on the handle while the mallet remains resting on the black supporting surface."} +{"subtask_index": 165, "subtask": "Right hand: grasp: Right hand contacts the wooden mallet handle on the black mat, gradually curls fingers around the handle and adjusts finger contact positions to form a stable grip."} +{"subtask_index": 166, "subtask": "Right hand: pull: Right hand holds the wooden mallet handle firmly and pulls the mallet a short distance toward itself across the black mat surface."} +{"subtask_index": 167, "subtask": "Right hand: release: Right hand opens its fingers to release the wooden mallet handle, separating fingers from the handle surface."} +{"subtask_index": 168, "subtask": "Right hand: retreat: Right hand stays empty while moving upward and backward toward the top right edge of the frame, moving away from the position adjacent to the wooden hammer on the black work surface."} +{"subtask_index": 169, "subtask": "Left hand: other:out_of_view: Left hand is outside the camera's visible field of view; no movement, hand shape change, or object contact can be observed. | Right hand: retreat: Right hand stays empty while moving upward and backward toward the top right edge of the frame, moving away from the position adjacent to the wooden hammer on the black work surface."} +{"subtask_index": 170, "subtask": "Right hand: reach_grasp: Right hand moves downward from the top right edge of the frame toward the yellow head of the wooden mallet on the black surface, curling fingers to contact and grasp the mallet head."} +{"subtask_index": 171, "subtask": "Right hand: release_retreat: Right hand opens fingers to release contact with the mallet head and moves rightward away from the mallet."} +{"subtask_index": 172, "subtask": "Left hand: idle: Left hand remains empty at the left edge of the frame without moving. | Right hand: other:out_of_frame: Right hand is not visible outside the right edge of the frame."} +{"subtask_index": 173, "subtask": "Left hand: idle: Left hand remains empty at the left edge of the frame without moving. | Right hand: reach: Right hand enters the frame from the right edge and moves leftward with empty fingers."} +{"subtask_index": 174, "subtask": "Left hand: idle: Left hand remains empty at the left edge of the frame without moving. | Right hand: reach: Right hand moves leftward and downward toward the yellow hammer with wooden handle on the black mat."} +{"subtask_index": 175, "subtask": "Left hand: idle: Left hand remains empty at the left edge of the frame without moving. | Right hand: grasp: Right hand contacts the yellow hammer and closes its fingers to establish grasp on the hammer's head."} +{"subtask_index": 176, "subtask": "Left hand: idle: Left hand remains empty at the left edge of the frame without moving. | Right hand: grasp: Right hand grasps the wooden handle of the yellow hammer, with fingers closing and adjusting to firm the grip."} +{"subtask_index": 177, "subtask": "Left hand: idle: Left hand remains empty at the left edge of the frame without moving."} +{"subtask_index": 178, "subtask": "Left hand: idle: Left hand remains empty at the left edge of the frame without moving. | Right hand: transport_place: Right hand carries the yellow hammer rightward with slight clockwise rotation and places it flat on the black table surface."} +{"subtask_index": 179, "subtask": "Left hand: idle: Left hand remains empty at the left edge of the frame without moving. | Right hand: release_retreat: Right hand releases the yellow hammer handle and retreats toward the upper right direction."} +{"subtask_index": 180, "subtask": "Left hand: idle: Left hand remains empty at the left edge of the frame without moving. | Right hand: release_retreat: Right hand releases the yellow hammer on the black textured mat and moves upward to exit the frame."} +{"subtask_index": 181, "subtask": "Left hand: idle: Left hand remains empty at the left edge of the frame without moving. | Right hand: grasp: Right hand grasps the yellow-headed wooden hammer on the black mat, with fingers closing around the wooden handle."} +{"subtask_index": 182, "subtask": "Left hand: idle: Left hand remains empty at the left edge of the frame without moving. | Right hand: lift_transport: Right hand slightly lifts the yellow hammer and transports it leftward toward the wooden peg board."} +{"subtask_index": 183, "subtask": "Left hand: idle: Left hand remains empty at the left edge of the frame without moving. | Right hand: place: Right hand places the yellow hammer on the black mat."} +{"subtask_index": 184, "subtask": "Left hand: idle: Left hand remains empty at the left edge of the frame without moving. | Right hand: retreat: Right hand moves slightly to the right away from the wooden handle of the yellow hammer."} +{"subtask_index": 185, "subtask": "Left hand: idle: Left hand remains empty outside the visible operating area without observable movement. | Right hand: idle: Right hand remains empty at the top-right edge of the frame with no obvious displacement."} +{"subtask_index": 186, "subtask": "Left hand: idle: Left hand remains empty outside the visible operating area without observable movement. | Right hand: reach: Right hand moves down-left from the top-right edge toward the yellow mallet, with fingers extended, approaching the wooden handle of the mallet."} +{"subtask_index": 187, "subtask": "Left hand: idle: Left hand remains empty outside the visible operating area without observable movement. | Right hand: grasp: Right hand gradually closes its fingers around the wooden handle of the yellow mallet resting on the black work surface to establish a stable grip."} +{"subtask_index": 188, "subtask": "Left hand: idle: Left hand remains empty outside the visible operating area without observable movement. | Right hand: grasp: Right hand adjusts finger positions around the wooden handle of the yellow mallet resting on the black work surface to form a stable grip."} +{"subtask_index": 189, "subtask": "Left hand: idle: Left hand remains empty outside the visible operating area without observable movement. | Right hand: lift: Right hand moves upward to lift the gripped yellow mallet, raising its entire wooden handle completely off the black work surface."} +{"subtask_index": 190, "subtask": "Left hand: idle: Left hand remains empty outside the visible operating area without observable movement. | Right hand: transport: Right hand carries the lifted yellow mallet upward and leftward toward the wooden peg toy, rotating the mallet to a vertical orientation as it moves."} +{"subtask_index": 191, "subtask": "Left hand: idle: Left hand remains empty outside the visible operating area without observable movement. | Right hand: hold: Right hand holds the vertically oriented yellow mallet stationary above the red peg on the wooden peg toy."} +{"subtask_index": 192, "subtask": "Left hand: idle: Left hand remains empty outside the visible operating area without observable movement. | Right hand: grasp: Right hand makes small finger adjustments on the wooden mallet handle, repositioning contact points to establish a stable grip on the mallet."} +{"subtask_index": 193, "subtask": "Left hand: idle: Left hand remains empty outside the visible operating area without observable movement. | Right hand: lift: Right hand lifts the wooden mallet slightly upward, raising both the yellow mallet head and the lower handle end completely off their supporting surfaces."} +{"subtask_index": 194, "subtask": "Left hand: idle: Left hand remains empty outside the visible operating area without observable movement. | Right hand: place: Right hand moves the lifted mallet vertically downward, positioning the yellow mallet head onto the green peg on the wooden pegboard until the mallet rests on the target surface."} +{"subtask_index": 195, "subtask": "Left hand: idle: Left hand remains empty outside the visible operating area without observable movement. | Right hand: press: Right hand applies steady vertical downward force to the mallet, pressing the yellow mallet head against the green peg on the pegboard."} +{"subtask_index": 196, "subtask": "Left hand: idle: Left hand remains empty outside the visible operating area without observable movement. | Right hand: lift: Right hand lifts the yellow-headed wooden mallet upward to fully separate it from the supporting wooden toy structure."} +{"subtask_index": 197, "subtask": "Left hand: idle: Left hand remains empty outside the visible operating area without observable movement. | Right hand: transport: Right hand carries the yellow-headed wooden mallet rightward across the black table surface toward the right resting area."} +{"subtask_index": 198, "subtask": "Left hand: idle: Left hand remains empty outside the visible operating area without observable movement. | Right hand: place: Right hand lowers the yellow-headed wooden mallet until its wooden handle end rests stably on the black table surface."} +{"subtask_index": 199, "subtask": "Left hand: idle: Left hand remains empty outside the visible operating area without observable movement. | Right hand: release: Right hand opens its fingers to release the yellow-headed wooden mallet, fully separating the hand from the mallet as the mallet tilts onto the table."} +{"subtask_index": 200, "subtask": "Left hand: idle: Left hand remains empty outside the visible operating area without observable movement. | Right hand: idle: Right hand remains empty and stationary above the placed mallet on the right side of the table without moving."} +{"subtask_index": 201, "subtask": "Left hand: idle: Left hand remains empty outside the visible operating area without observable movement. | Right hand: retreat: Right hand moves upward and rightward as an empty hand from the position adjacent to the yellow hammer, until it fully exits the visible frame area."} +{"subtask_index": 202, "subtask": "Left hand: idle: Left hand remains empty outside the visible operating area without observable movement."} +{"subtask_index": 203, "subtask": "Left hand: idle: Left hand remains empty at the left edge of the frame without moving. | Right hand: idle: Right hand remains empty at the top-right edge of the frame without moving."} +{"subtask_index": 204, "subtask": "Left hand: idle: Left hand remains empty at the left edge of the frame without moving. | Right hand: reach: Right hand moves downward from the top-right edge of the frame toward the wooden hammer with a yellow head placed on the right side of the black work surface, staying empty without establishing a grasp on the hammer."} +{"subtask_index": 205, "subtask": "Left hand: idle: Left hand remains empty at the left edge of the frame without moving. | Right hand: reach: Right hand moves left toward the wooden handle of the yellow hammer resting on the black work surface, with fingers held open and no contact made with the handle."} +{"subtask_index": 206, "subtask": "Left hand: idle: Left hand remains empty at the left edge of the frame without moving. | Right hand: grasp: Right hand makes initial light contact with the wooden handle of the yellow hammer, closes fingers around the handle and performs slight adjustments to hand and finger positions to establish a grip, with the hammer remaining on the black support surface."} +{"subtask_index": 207, "subtask": "Left hand: idle: Left hand remains empty at the left edge of the frame without moving. | Right hand: lift: Right hand firmly grasps the wooden handle of the yellow hammer and lifts the hammer upward from the black work surface until the entire hammer is fully lifted off the surface."} +{"subtask_index": 208, "subtask": "Left hand: idle: Left hand remains empty at the left edge of the frame without moving. | Right hand: transport: Right hand carries the fully lifted yellow hammer upward, while rotating the wrist to turn the hammer about a quarter turn to adjust its orientation."} +{"subtask_index": 209, "subtask": "Left hand: idle: Left hand remains empty at the left edge of the frame without moving. | Right hand: place: Right hand holds the yellow hammer and moves it downward to lower the yellow hammer head until it contacts and is supported by the black work surface."} +{"subtask_index": 210, "subtask": "Left hand: idle: Left hand remains empty at the left edge of the frame without moving. | Right hand: release: Right hand gradually opens its fingers to release the wooden handle of the yellow hammer, fully separating the hand from the hammer by the end of the segment."} +{"subtask_index": 211, "subtask": "Left hand: idle: Left hand remains empty at the left edge of the frame without moving. | Right hand: release_retreat: Right hand opens its fingers to release the handle of the yellow wooden hammer, and moves upward away from the hammer toward the upper right edge of the frame."} +{"subtask_index": 212, "subtask": "Left hand: idle: Left hand remains empty at the left edge of the frame without moving. | Right hand: reach_grasp: Right hand enters from the right edge of the frame, moves left to contact the yellow head of the wooden mallet, and closes fingers around the mallet head with slight positional adjustment."} +{"subtask_index": 213, "subtask": "Left hand: idle: Left hand remains empty at the left edge of the frame without moving. | Right hand: hold: Right hand holds the yellow head of the wooden mallet steadily on the black textured mat, with no observable movement of the hand or mallet."} +{"subtask_index": 214, "subtask": "Right hand: reach: Right hand enters from the right side of the frame and moves toward the yellow hammer with wooden handle on the black mat."} +{"subtask_index": 215, "subtask": "Right hand: grasp: Right hand closes its fingers to grasp the wooden handle of the yellow hammer."} +{"subtask_index": 216, "subtask": "Right hand: grasp: Right hand adjusts fingers to grasp the wooden handle of the yellow hammer on the black mat."} +{"subtask_index": 217, "subtask": "Right hand: transport: Right hand transports the yellow hammer leftwards towards the wooden perforated plate with green pillars."} +{"subtask_index": 218, "subtask": "Right hand: grasp: Right hand adjusts its grip on the wooden handle of the yellow hammer by slightly closing fingers."} +{"subtask_index": 219, "subtask": "Right hand: press: Right hand moves the yellow hammer downward to press the red peg on the wooden base."} +{"subtask_index": 220, "subtask": "Right hand: transport: Right hand moves the yellow hammer upward away from the wooden base."} +{"subtask_index": 221, "subtask": "Right hand: press: Right hand moves the yellow hammer downward to press the green peg on the wooden base."} +{"subtask_index": 222, "subtask": "Right hand: transport: Right hand holds the yellow hammer and moves it rightward above the black mat."} +{"subtask_index": 223, "subtask": "Right hand: place_release: Right hand places the yellow hammer on the black mat and releases its grip on the hammer."} +{"subtask_index": 224, "subtask": "Right hand: reach: Right hand enters the frame from the right edge, moves leftward as an empty hand toward the yellow mallet on the right side of the black platform, approaching the wooden handle of the mallet."} +{"subtask_index": 225, "subtask": "Right hand: grasp: Right hand makes contact with the wooden handle of the mallet, fingers close around the handle and adjust contact positions to form a stable grip, while the mallet stays resting on the black supporting surface."} +{"subtask_index": 226, "subtask": "Right hand: lift: Right hand holds the gripped mallet and lifts it upward, until the entire mallet including the distal end of the wooden handle is fully separated from the black platform surface."} +{"subtask_index": 227, "subtask": "Right hand: transport: Right hand carries the fully lifted mallet and moves it leftward toward the central wooden workbench, transporting the mallet to the area above the workbench surface."} +{"subtask_index": 228, "subtask": "Right hand: reorient: Right hand slightly rotates the wrist to adjust the orientation of the held mallet, aligning the yellow mallet head with the red peg on the workbench surface with minimal positional shift."} +{"subtask_index": 229, "subtask": "Right hand: grasp: Right hand makes slight finger adjustments to secure a stable grip on the wooden mallet handle."} +{"subtask_index": 230, "subtask": "Right hand: press: Right hand moves the gripped wooden mallet vertically downward, pressing the mallet head against the yellow wooden peg on the perforated light wooden base."} +{"subtask_index": 231, "subtask": "Right hand: hold: Right hand holds the wooden mallet without movement, keeping the mallet head resting against the yellow wooden peg on the base."} +{"subtask_index": 232, "subtask": "Right hand: other:repeated_short_vertical_motions: Right hand moves the gripped wooden mallet in repeated short vertical back-and-forth motions, with the mallet head staying near the yellow wooden peg on the wooden base."} +{"subtask_index": 233, "subtask": "Right hand: lift: Right hand grips the wooden mallet handle and lifts the mallet upward off the wooden peg toy until the mallet is fully separated from the toy surface."} +{"subtask_index": 234, "subtask": "Right hand: transport: Right hand carries the lifted wooden mallet upward and to the right, moving it away from the wooden peg toy over the black work surface."} +{"subtask_index": 235, "subtask": "Right hand: release: Right hand opens its fingers to release the wooden mallet, allowing the mallet to fall onto the black work surface."} +{"subtask_index": 236, "subtask": "Right hand: idle: Right hand remains empty above the right side of the work surface with no visible movement."} +{"subtask_index": 237, "subtask": "Right hand: reach: Right hand enters from the right edge of the frame and moves left toward the yellow hammer on the black mat."} +{"subtask_index": 238, "subtask": "Right hand: grasp: Right hand adjusts its fingers to close around the wooden handle of the yellow hammer to establish a stable grasp."} +{"subtask_index": 239, "subtask": "Right hand: lift: Right hand lifts the yellow hammer up from the black mat until the hammer is completely off the support surface."} +{"subtask_index": 240, "subtask": "Right hand: transport: Right hand holds the yellow hammer and moves it left toward the wooden peg toy in the center of the mat."} +{"subtask_index": 241, "subtask": "Right hand: transport: Right hand transports the hammer with yellow head to the position above the red peg on the wooden base."} +{"subtask_index": 242, "subtask": "Right hand: press: Right hand presses the red peg into the wooden base using the yellow head of the hammer."} +{"subtask_index": 243, "subtask": "Right hand: hold: Right hand holds the hammer with its yellow head touching the red peg without moving."} +{"subtask_index": 244, "subtask": "Right hand: press: Right hand presses the red peg further into the wooden base with the hammer."} +{"subtask_index": 245, "subtask": "Right hand: hold: Right hand holds the hammer with its yellow head resting on the red peg without moving."} +{"subtask_index": 246, "subtask": "Right hand: press: Right hand presses the red peg deeper into the wooden base with the hammer."} +{"subtask_index": 247, "subtask": "Right hand: press: Right hand presses the red peg fully into the wooden base with the hammer."} +{"subtask_index": 248, "subtask": "Right hand: transport: Right hand transports the hammer away from the red peg on the wooden base."} +{"subtask_index": 249, "subtask": "Right hand: lift: Right hand lifts the yellow hammer away from the wooden toy."} +{"subtask_index": 250, "subtask": "Right hand: transport: Right hand transports the yellow hammer towards the right side of the frame."} +{"subtask_index": 251, "subtask": "Right hand: place_release: Right hand places the yellow hammer onto the black mat, releases its grip on the hammer, and remains still briefly."} +{"subtask_index": 252, "subtask": "Left hand: idle: Left hand remains empty and stationary without contacting any operated object throughout the segment. | Right hand: idle: Right hand remains empty at the top-right edge of the frame without obvious movement."} +{"subtask_index": 253, "subtask": "Left hand: idle: Left hand remains empty and stationary without contacting any operated object throughout the segment. | Right hand: reach: Right hand moves downward from the top-right edge toward the wooden handle of the yellow mallet, with fingers kept open."} +{"subtask_index": 254, "subtask": "Left hand: idle: Left hand remains empty and stationary without contacting any operated object throughout the segment. | Right hand: grasp: Right hand contacts the wooden handle of the yellow mallet, closing fingers and adjusting contact positions to form a stable grip."} +{"subtask_index": 255, "subtask": "Left hand: idle: Left hand remains empty and stationary without contacting any operated object throughout the segment. | Right hand: grasp: Right hand makes slight finger adjustments to tighten its grip on the wooden mallet handle, with the mallet resting on the black work mat."} +{"subtask_index": 256, "subtask": "Left hand: idle: Left hand remains empty and stationary without contacting any operated object throughout the segment. | Right hand: lift: Right hand lifts the grasped wooden mallet upward until the mallet is fully lifted off the black work mat surface."} +{"subtask_index": 257, "subtask": "Left hand: idle: Left hand remains empty and stationary without contacting any operated object throughout the segment. | Right hand: transport: Right hand carries the lifted wooden mallet upward and leftward toward the wooden peg board, rotating the mallet approximately 90 degrees to orient the yellow head downward."} +{"subtask_index": 258, "subtask": "Left hand: idle: Left hand remains empty and stationary without contacting any operated object throughout the segment. | Right hand: place: Right hand lowers the wooden mallet until its wooden handle end contacts and is supported by the wooden peg board surface, aligning the mallet with the red peg."} +{"subtask_index": 259, "subtask": "Left hand: idle: Left hand remains empty and stationary without contacting any operated object throughout the segment. | Right hand: hold: Right hand holds the wooden mallet steadily on the wooden peg board aligned with the red peg, without any visible movement of the hand or mallet."} +{"subtask_index": 260, "subtask": "Left hand: idle: Left hand remains empty and stationary without contacting any operated object throughout the segment. | Right hand: reorient: Right hand grips the wooden handle of the mallet, rotates the mallet slightly clockwise to tilt its wooden handle to the left, with negligible overall translation of the mallet."} +{"subtask_index": 261, "subtask": "Left hand: idle: Left hand remains empty and stationary without contacting any operated object throughout the segment. | Right hand: lift_transport: Right hand holds the wooden mallet, lifts it off the wooden toy structure, and moves it upward and rightward through the air."} +{"subtask_index": 262, "subtask": "Left hand: idle: Left hand remains empty and stationary without contacting any operated object throughout the segment. | Right hand: release: Right hand opens its fingers to release the wooden mallet, allowing the mallet to fall onto the black work surface."} +{"subtask_index": 263, "subtask": "Left hand: idle: Left hand remains empty and stationary without contacting any operated object throughout the segment. | Right hand: idle: Right hand remains empty above the right area of the work surface without obvious movement."} +{"subtask_index": 264, "subtask": "Right hand: reach: Right hand moves downward and leftward toward the wooden handle of the yellow hammer placed on the black mat."} +{"subtask_index": 265, "subtask": "Right hand: grasp: Right hand grasps the wooden handle of the yellow hammer on the black mat, with fingers adjusting to form a stable grip."} +{"subtask_index": 266, "subtask": "Right hand: lift: Right hand lifts the yellow hammer upward off the black mat."} +{"subtask_index": 267, "subtask": "Right hand: transport: Right hand transports the yellow hammer leftward towards the wooden peg board."} +{"subtask_index": 268, "subtask": "Right hand: grasp: Right hand adjusts its grip on the wooden handle of the yellow hammer by repositioning fingers."} +{"subtask_index": 269, "subtask": "Right hand: transport: Right hand moves the yellow hammer downward to align the hammer head with the green peg on the wooden pegboard."} +{"subtask_index": 270, "subtask": "Right hand: press: Right hand presses the green peg into the wooden pegboard using the yellow hammer head."} +{"subtask_index": 271, "subtask": "Right hand: transport: Right hand lifts the yellow hammer slightly upward then moves it downward to align with the green peg again."} +{"subtask_index": 272, "subtask": "Right hand: press: Right hand presses the green peg further into the wooden pegboard using the yellow hammer head."} +{"subtask_index": 273, "subtask": "Right hand: transport: Right hand moves the yellow hammer to position above the red peg on the wooden pegboard."} +{"subtask_index": 274, "subtask": "Right hand: press: Right hand presses the yellow hammer downward to hit the red peg on the wooden pegboard for the first time."} +{"subtask_index": 275, "subtask": "Right hand: press: Right hand presses the yellow hammer downward to hit the red peg on the wooden pegboard for the second time."} +{"subtask_index": 276, "subtask": "Right hand: place_release: Right hand places the yellow hammer onto the black table surface next to the wooden stool and releases its grip on the hammer."} +{"subtask_index": 277, "subtask": "Left hand: idle: Left hand remains empty and stationary at the far left edge of the frame. | Right hand: idle: Right hand remains empty outside the top-right edge of the frame with no observable movement."} +{"subtask_index": 278, "subtask": "Left hand: idle: Left hand remains empty and stationary at the far left edge of the frame. | Right hand: reach: Right hand moves empty downward and leftward along a curved path toward the wooden handle of the yellow hammer resting on the black work surface."} +{"subtask_index": 279, "subtask": "Left hand: retreat: Left hand moves leftward while empty to exit the visible frame. | Right hand: reach: Right hand moves empty downward and leftward along a curved path toward the wooden handle of the yellow hammer resting on the black work surface."} +{"subtask_index": 280, "subtask": "Left hand: idle: Left hand remains empty outside the visible frame with no observable movement. | Right hand: reach: Right hand moves empty downward and leftward along a curved path toward the wooden handle of the yellow hammer resting on the black work surface."} +{"subtask_index": 281, "subtask": "Left hand: idle: Left hand remains empty outside the visible frame with no observable movement. | Right hand: grasp: Right hand closes fingers around the wooden handle of the yellow hammer, adjusting finger positions to establish grip on the handle."} +{"subtask_index": 282, "subtask": "Left hand: idle: Left hand remains empty outside the visible frame with no observable movement. | Right hand: lift: Right hand maintains a closed grasp around the wooden handle of the yellow-headed hammer, lifting the hammer upward until the entire hammer is fully raised off the black textured supporting mat."} +{"subtask_index": 283, "subtask": "Left hand: idle: Left hand remains empty outside the visible frame with no observable movement. | Right hand: transport: Right hand carries the grasped hammer leftward across the workspace, rotating the hammer from a horizontal resting orientation to a vertical orientation as it moves, until the hammer hovers directly above the central wooden peg board."} +{"subtask_index": 284, "subtask": "Left hand: idle: Left hand remains empty outside the visible frame with no observable movement. | Right hand: place: Right hand lowers the vertically oriented hammer toward the wooden peg board, making small positional adjustments to align the yellow hammer head over the red peg, until the hammer rests stably on the peg board surface."} +{"subtask_index": 285, "subtask": "Left hand: idle: Left hand remains empty outside the visible frame with no observable movement."} +{"subtask_index": 286, "subtask": "Left hand: idle: Left hand remains empty outside the visible frame with no observable movement. | Right hand: press: Right hand grips the wooden handle of the hammer, applies downward vertical pressure to press the yellow hammer head onto the green pin on the wooden base to push the pin down."} +{"subtask_index": 287, "subtask": "Left hand: idle: Left hand remains empty outside the visible frame with no observable movement. | Right hand: grasp: Right hand adjusts its fingers and wrist position around the wooden handle of the hammer, making small fine movements to stabilize its grip on the hammer resting on the wooden peg toy."} +{"subtask_index": 288, "subtask": "Left hand: idle: Left hand remains empty outside the visible frame with no observable movement. | Right hand: push: Right hand maintains a stable grip on the hammer handle and pushes the hammer slightly leftward across the wooden peg toy surface, moving the yellow hammer head a small distance away from the hand."} +{"subtask_index": 289, "subtask": "Left hand: idle: Left hand remains empty outside the visible frame with no observable movement. | Right hand: grasp_lift: Right hand tightens its fingers around the light wooden handle of the hammer to secure a stable grip and lifts the hammer upward until it is completely raised off the wooden peg board."} +{"subtask_index": 290, "subtask": "Left hand: idle: Left hand remains empty outside the visible frame with no observable movement. | Right hand: transport: Right hand carries the gripped hammer, moving it horizontally rightward across the black work surface toward the right edge of the workspace, holding the hammer suspended in the air throughout the movement."} +{"subtask_index": 291, "subtask": "Left hand: idle: Left hand remains empty outside the visible frame with no observable movement. | Right hand: place: Right hand lowers the suspended hammer toward the right section of the black work surface, adjusting its orientation slightly until the hammer lies flat and is fully supported by the surface, with the hand still holding the handle."} +{"subtask_index": 292, "subtask": "Left hand: idle: Left hand remains empty outside the visible frame with no observable movement. | Right hand: release: Right hand gradually opens its fingers to release the grip on the hammer handle, fully separating the fingers from the hammer that rests stably on the work surface by the end of the segment."} +{"subtask_index": 293, "subtask": "Left hand: idle: Left hand remains empty at the left edge of the frame without moving. | Right hand: reach: Right hand moves downward from the top-right edge of the frame toward the wooden handle of the yellow mallet, with fingers held open."} +{"subtask_index": 294, "subtask": "Left hand: idle: Left hand remains empty at the left edge of the frame without moving. | Right hand: grasp: Right hand closes fingers around the wooden handle of the yellow mallet, making small adjustments to establish contact with the mallet resting on the black textured surface."} +{"subtask_index": 295, "subtask": "Left hand: idle: Left hand remains empty at the left edge of the frame without moving. | Right hand: grasp: Right hand closes and adjusts fingers around the wooden mallet handle to form a stable grip on the mallet resting on the black textured mat."} +{"subtask_index": 296, "subtask": "Left hand: idle: Left hand remains empty at the left edge of the frame without moving. | Right hand: lift: Right hand moves upward to lift the grasped wooden mallet, raising the entire mallet completely off the black supporting mat."} +{"subtask_index": 297, "subtask": "Left hand: idle: Left hand remains empty at the left edge of the frame without moving. | Right hand: transport: Right hand carries the suspended wooden mallet through the air toward the wooden peg board, positioning the yellow mallet head directly above the red peg on the board."} +{"subtask_index": 298, "subtask": "Left hand: idle: Left hand remains empty at the left edge of the frame without moving. | Right hand: place: Right hand moves the wooden mallet downward to place the yellow mallet head onto the red peg mounted on the wooden peg board."} +{"subtask_index": 299, "subtask": "Left hand: idle: Left hand remains empty at the left edge of the frame without moving. | Right hand: grasp: Right hand adjusts finger positions along the lower section of the wooden mallet handle, shifting contact points to begin establishing a stable grip on the mallet."} +{"subtask_index": 300, "subtask": "Left hand: idle: Left hand remains empty at the left edge of the frame without moving. | Right hand: hold: Right hand holds the wooden mallet steadily, with no observable finger, wrist or mallet movement."} +{"subtask_index": 301, "subtask": "Left hand: idle: Left hand remains empty at the left edge of the frame without moving. | Right hand: grasp: Right hand continues adjusting finger positions further up the wooden mallet handle, repositioning contact points to finalize a stable grip on the mallet."} +{"subtask_index": 302, "subtask": "Left hand: idle: Left hand remains empty at the left edge of the frame without moving. | Right hand: reorient: Right hand rotates the gripped wooden mallet around the pivot of its handle end resting on the black work surface, tilting the yellow mallet head downward toward the small peg on the wooden pegboard."} +{"subtask_index": 303, "subtask": "Left hand: idle: Left hand remains empty at the left edge of the frame without moving. | Right hand: press: Right hand applies downward force on the gripped mallet, pressing the yellow mallet head against the small peg on the wooden pegboard."} +{"subtask_index": 304, "subtask": "Left hand: idle: Left hand remains empty at the left edge of the frame without moving. | Right hand: lift_transport: Right hand grips the wooden mallet, lifts it off the left black surface and away from the peg toy, transports it rightward to the right area of the black surface, with the mallet's wooden lower end touching the surface at the end of the movement."} +{"subtask_index": 305, "subtask": "Left hand: idle: Left hand remains empty at the left edge of the frame without moving. | Right hand: hold: Right hand holds the wooden mallet vertically upright on the right black surface without any observable movement or finger adjustment."} +{"subtask_index": 306, "subtask": "Left hand: idle: Left hand remains empty at the left edge of the frame without moving. | Right hand: place_release: Right hand tilts the wooden mallet downward to place it flat and fully supported on the right black surface, opens fingers to release the mallet handle, and stays stationary with fingers resting on the mallet's yellow head."} +{"subtask_index": 307, "subtask": "Left hand: idle: Left hand remains empty at the left edge of the frame without moving. | Right hand: retreat: Right hand moves upward away from the black table surface while empty, retreating out of the top edge of the frame."} +{"subtask_index": 308, "subtask": "Right hand: reach: Right hand moves down and left from the top right edge of the frame toward the yellow-headed hammer on the black mat."} +{"subtask_index": 309, "subtask": "Right hand: grasp: Right hand grasps the upper handle of the yellow-headed hammer on the black mat with fingers closing around it."} +{"subtask_index": 310, "subtask": "Right hand: grasp: Right hand grasps the wooden handle of the yellow hammer on the black mat, with fingers closing around the handle."} +{"subtask_index": 311, "subtask": "Right hand: hold: Right hand holds the wooden handle of the yellow hammer on the black mat without moving."} +{"subtask_index": 312, "subtask": "Right hand: grasp: Right hand adjusts its grip on the wooden handle of the yellow hammer resting on the black table surface to form a stable grasp."} +{"subtask_index": 313, "subtask": "Right hand: lift_transport: Right hand lifts the yellow hammer off the black table surface, transports it leftward and rotates it to position the yellow hammer head above the red peg on the wooden board."} +{"subtask_index": 314, "subtask": "Right hand: transport: Right hand moves the yellow hammer downward to make contact with the red peg on the wooden base."} +{"subtask_index": 315, "subtask": "Right hand: hold: Right hand holds the yellow hammer with its head resting against the right side of the wooden toy without moving."} +{"subtask_index": 316, "subtask": "Right hand: transport: Right hand holds the wooden handle of the yellow hammer and moves it rightward above the black table surface."} +{"subtask_index": 317, "subtask": "Right hand: hold: Right hand holds the yellow hammer upright on the right area of the black table without moving."} +{"subtask_index": 318, "subtask": "Right hand: reorient_release: Right hand rotates the yellow hammer about 90 degrees to lie flat on the right table area and releases its grip on the handle."} +{"subtask_index": 319, "subtask": "Right hand: idle: Right hand remains empty next to the yellow hammer on the right without moving."} +{"subtask_index": 320, "subtask": "Right hand: release_retreat: Right hand releases the yellow hammer on the black textured mat and moves upward toward the top right of the frame."} +{"subtask_index": 321, "subtask": "Right hand: grasp_lift: Right hand grasps the yellow head of the hammer on the right side of the black mat and lifts the head end of the hammer slightly upward."} +{"subtask_index": 322, "subtask": "Left hand: idle: Left hand remains empty outside the visible operational area of the frame without moving. | Right hand: idle: Right hand remains empty outside the right edge of the frame without moving."} +{"subtask_index": 323, "subtask": "Left hand: idle: Left hand remains empty outside the visible operational area of the frame without moving. | Right hand: reach: Right hand enters from the right edge of the frame, moves left toward the wooden mallet on the black textured mat with open fingers."} +{"subtask_index": 324, "subtask": "Left hand: idle: Left hand remains empty outside the visible operational area of the frame without moving. | Right hand: grasp: Right hand closes fingers around the wooden handle of the mallet, adjusts finger positions to form a stable grip while the mallet remains resting on the mat."} +{"subtask_index": 325, "subtask": "Left hand: idle: Left hand remains empty outside the visible operational area of the frame without moving. | Right hand: lift: Right hand lifts the grasped wooden mallet upward until the entire mallet is fully separated from the black supporting mat."} +{"subtask_index": 326, "subtask": "Left hand: idle: Left hand remains empty outside the visible operational area of the frame without moving. | Right hand: transport: Right hand carries the lifted wooden mallet leftward toward the wooden peg toy, rotating the mallet to a vertical orientation as it moves to position the mallet head above the red peg on the toy."} +{"subtask_index": 327, "subtask": "Left hand: idle: Left hand remains empty outside the visible operational area of the frame without moving. | Right hand: grasp: Right hand adjusts finger positions slightly to establish a stable grasp on the wooden mallet handle."} +{"subtask_index": 328, "subtask": "Left hand: idle: Left hand remains empty outside the visible operational area of the frame without moving. | Right hand: lift: Right hand lifts the grasped wooden mallet upward, raising the mallet's bottom end completely off the black supporting surface."} +{"subtask_index": 329, "subtask": "Left hand: idle: Left hand remains empty outside the visible operational area of the frame without moving. | Right hand: transport_press: Right hand moves the lifted wooden mallet downward toward the top of the red peg, and presses the mallet head against the red peg top to apply striking force."} +{"subtask_index": 330, "subtask": "Left hand: idle: Left hand remains empty outside the visible operational area of the frame without moving. | Right hand: grasp: Right hand adjusts finger positions slightly to re-stabilize the grasp on the wooden mallet handle after the first strike."} +{"subtask_index": 331, "subtask": "Left hand: idle: Left hand remains empty outside the visible operational area of the frame without moving. | Right hand: hold: Right hand holds the wooden mallet steadily without any observable hand, finger or mallet movement."} +{"subtask_index": 332, "subtask": "Left hand: idle: Left hand remains empty outside the visible operational area of the frame without moving. | Right hand: transport_press: Right hand moves the held wooden mallet upward then downward toward the red peg top, and presses the mallet head against the red peg to drive it into the wooden base."} +{"subtask_index": 333, "subtask": "Left hand: idle: Left hand remains empty outside the visible operational area of the frame without moving. | Right hand: lift: Right hand firmly holds the wooden mallet and lifts it upward to fully separate it from the wooden perforated platform."} +{"subtask_index": 334, "subtask": "Left hand: idle: Left hand remains empty outside the visible operational area of the frame without moving. | Right hand: transport: Right hand carries the lifted wooden mallet, moving it horizontally rightward to the position directly above the right section of the black work surface."} +{"subtask_index": 335, "subtask": "Left hand: idle: Left hand remains empty outside the visible operational area of the frame without moving. | Right hand: place_release: Right hand lowers the wooden mallet onto the black work surface, opens its fingers to release the mallet as the mallet rests stably on the surface."} +{"subtask_index": 336, "subtask": "Left hand: idle: Left hand remains empty outside the visible operational area of the frame without moving. | Right hand: retreat: Right hand, now empty, moves upward and rightward away from the mallet placement position to the upper right of the visible area."} +{"subtask_index": 337, "subtask": "Left hand: idle: Left hand remains empty outside the visible operational area of the frame without moving. | Right hand: idle: Right hand stays empty and motionless at the upper right of the visible area with no observable movement."} +{"subtask_index": 338, "subtask": "Right hand: reach: Right hand moves downward from the top right edge of the frame toward the wooden handle of the yellow-headed hammer, with fingers held slightly open as it approaches the target without making contact."} +{"subtask_index": 339, "subtask": "Right hand: grasp: Right hand makes initial contact with the wooden handle of the hammer, closes fingers around the handle, and makes small positional adjustments to the fingers to establish a secure grip while the hammer remains resting on the work surface."} +{"subtask_index": 340, "subtask": "Right hand: hold: Right hand holds the wooden handle of the yellow mallet resting on the black work surface without any observable movement."} +{"subtask_index": 341, "subtask": "Right hand: lift: Right hand lifts the yellow mallet upward from the black work surface, with fingers wrapped around the wooden handle until the mallet fully leaves the surface."} +{"subtask_index": 342, "subtask": "Right hand: transport: Right hand carries the lifted yellow mallet leftward through the air, moving it toward the wooden peg platform."} +{"subtask_index": 343, "subtask": "Right hand: place: Right hand lowers the yellow mallet toward the wooden peg platform, adjusting position until the wooden handle makes contact with the platform surface."} +{"subtask_index": 344, "subtask": "Right hand: hold: Right hand holds the yellow mallet steady with its wooden handle resting on the wooden peg platform, without observable movement."} +{"subtask_index": 345, "subtask": "Right hand: grasp: Right hand adjusts finger contact points and wrist angle slightly on the wooden mallet handle to stabilize its grip, with the mallet resting against the wooden peg board and its bottom end on the black work surface."} +{"subtask_index": 346, "subtask": "Right hand: other:adjust_mallet_alignment: Right hand shifts the wooden mallet slightly upward and toward the target green peg, adjusting the mallet's alignment with the peg while its bottom end slides along the black work surface."} +{"subtask_index": 347, "subtask": "Right hand: hold: Right hand holds the aligned wooden mallet steadily without observable movement, keeping the mallet head positioned over the target green peg."} +{"subtask_index": 348, "subtask": "Right hand: press: Right hand applies downward force to the wooden mallet handle, pressing the mallet head down against the target green peg on the wooden peg board."} +{"subtask_index": 349, "subtask": "Right hand: grasp: Right hand makes slight finger adjustments to stabilize its grasp on the wooden mallet handle."} +{"subtask_index": 350, "subtask": "Right hand: lift: Right hand lifts the grasped wooden mallet upward, fully separating it from the supporting wooden toy structure."} +{"subtask_index": 351, "subtask": "Right hand: transport: Right hand carries the lifted wooden mallet rightward to the position above the right area of the black work surface."} +{"subtask_index": 352, "subtask": "Right hand: place: Right hand rotates its wrist clockwise approximately 90 degrees while lowering the mallet, placing the mallet flat on the right side of the black work surface."} +{"subtask_index": 353, "subtask": "Right hand: release: Right hand gradually opens its fingers to release the wooden mallet handle, fully separating the hand from the mallet."} +{"subtask_index": 354, "subtask": "Right hand: release: Right hand opens fingers to release the wooden mallet handle, separating from the mallet which comes to rest on the black work surface."} +{"subtask_index": 355, "subtask": "Right hand: retreat: Right hand moves upward away from the mallet while remaining empty, retreating from the previous operation position."} +{"subtask_index": 356, "subtask": "Left hand: idle: Left hand is partially visible at the left edge of the frame at frame 0 and stays outside the visible view for all following frames, remaining empty with no observable movement. | Right hand: idle: Right hand remains outside the top right of the frame, empty and stationary with no part entering the visible area."} +{"subtask_index": 357, "subtask": "Left hand: idle: Left hand is partially visible at the left edge of the frame at frame 0 and stays outside the visible view for all following frames, remaining empty with no observable movement. | Right hand: reach: Right hand enters the frame from the top right, moves downward toward the wooden handle of the yellow hammer with fingers slightly extended, and does not touch the hammer during this movement."} +{"subtask_index": 358, "subtask": "Left hand: idle: Left hand is partially visible at the left edge of the frame at frame 0 and stays outside the visible view for all following frames, remaining empty with no observable movement. | Right hand: grasp: Right hand makes contact with the wooden handle of the yellow hammer, closes fingers around the handle, and makes small adjustments to finger positions and wrist posture to form a stable grasp, with the hammer remaining on the supporting surface."} +{"subtask_index": 359, "subtask": "Left hand: idle: Left hand is partially visible at the left edge of the frame at frame 0 and stays outside the visible view for all following frames, remaining empty with no observable movement. | Right hand: hold: Right hand holds the wooden handle of the yellow hammer steadily, with no observable movement of the hand, fingers, or the hammer."} +{"subtask_index": 360, "subtask": "Left hand: idle: Left hand is partially visible at the left edge of the frame at frame 0 and stays outside the visible view for all following frames, remaining empty with no observable movement. | Right hand: lift: Right hand moves upward to lift the grasped wooden mallet, raising the entire mallet completely off the black platform surface."} +{"subtask_index": 361, "subtask": "Left hand: idle: Left hand is partially visible at the left edge of the frame at frame 0 and stays outside the visible view for all following frames, remaining empty with no observable movement. | Right hand: transport: Right hand carries the lifted wooden mallet leftward while rotating it approximately 90 degrees clockwise, positioning the yellow mallet head directly above the red peg on the wooden peg platform."} +{"subtask_index": 362, "subtask": "Left hand: idle: Left hand is partially visible at the left edge of the frame at frame 0 and stays outside the visible view for all following frames, remaining empty with no observable movement."} +{"subtask_index": 363, "subtask": "Left hand: idle: Left hand is partially visible at the left edge of the frame at frame 0 and stays outside the visible view for all following frames, remaining empty with no observable movement. | Right hand: grasp: Right hand holds the wooden mallet, makes slight finger adjustments on the mallet handle and small wrist movements to produce minor positional and rotational changes to the mallet."} +{"subtask_index": 364, "subtask": "Left hand: idle: Left hand is partially visible at the left edge of the frame at frame 0 and stays outside the visible view for all following frames, remaining empty with no observable movement. | Right hand: lift_transport: Right hand grips the wooden mallet, lifts it fully off the wooden toy structure, and moves it rightward through the air above the black work mat."} +{"subtask_index": 365, "subtask": "Left hand: idle: Left hand is partially visible at the left edge of the frame at frame 0 and stays outside the visible view for all following frames, remaining empty with no observable movement. | Right hand: place_release: Right hand lowers the wooden mallet toward the right side of the black mat, sets the mallet down until it rests fully on the mat surface, and opens its fingers to release grip on the mallet handle."} +{"subtask_index": 366, "subtask": "Left hand: idle: Left hand is partially visible at the left edge of the frame at frame 0 and stays outside the visible view for all following frames, remaining empty with no observable movement. | Right hand: retreat: Right hand moves empty upward and rightward away from the wooden mallet resting on the mat."} +{"subtask_index": 367, "subtask": "Left hand: idle: Left hand is partially visible at the left edge of the frame at frame 0 and stays outside the visible view for all following frames, remaining empty with no observable movement. | Right hand: retreat: Right hand moves upward while empty, retreating out of the top right edge of the frame."} +{"subtask_index": 368, "subtask": "Left hand: idle: Left hand remains empty with no observable operational movement throughout the segment, initially stationary at the left edge of the frame before moving out of view. | Right hand: idle: Right hand remains empty and stationary at the top right edge of the frame, with no movement toward objects."} +{"subtask_index": 369, "subtask": "Left hand: idle: Left hand remains empty with no observable operational movement throughout the segment, initially stationary at the left edge of the frame before moving out of view. | Right hand: reach: Right hand moves downward from the top right edge of the frame toward the wooden handle of the yellow hammer, remaining empty without contacting the handle."} +{"subtask_index": 370, "subtask": "Left hand: idle: Left hand remains empty with no observable operational movement throughout the segment, initially stationary at the left edge of the frame before moving out of view. | Right hand: grasp: Right hand contacts the wooden handle of the yellow hammer, closes fingers around the handle and makes small adjustments to finger positions to form a grip, with the hammer resting on the black fabric surface."} +{"subtask_index": 371, "subtask": "Left hand: idle: Left hand remains empty with no observable operational movement throughout the segment, initially stationary at the left edge of the frame before moving out of view. | Right hand: grasp: Right hand adjusts its fingers around the handle of the wooden hammer resting on the black work surface to establish a stable grip, with the hammer remaining stationary on the surface."} +{"subtask_index": 372, "subtask": "Left hand: idle: Left hand remains empty with no observable operational movement throughout the segment, initially stationary at the left edge of the frame before moving out of view. | Right hand: lift: Right hand lifts the stably grasped wooden hammer upward, until the entire hammer is fully separated from the black work surface."} +{"subtask_index": 373, "subtask": "Left hand: idle: Left hand remains empty with no observable operational movement throughout the segment, initially stationary at the left edge of the frame before moving out of view. | Right hand: transport: Right hand carries the fully lifted wooden hammer leftward and slightly downward through the air toward the central wooden peg toy, rotating the hammer about a quarter turn clockwise as it moves to orient the yellow hammer head toward the pegs on the toy."} +{"subtask_index": 374, "subtask": "Left hand: idle: Left hand remains empty with no observable operational movement throughout the segment, initially stationary at the left edge of the frame before moving out of view. | Right hand: grasp: Right hand makes small positional adjustments to the wooden hammer, slightly shifting its wrist and adjusting finger contact points on the wooden handle to align the yellow hammer head with the yellow cylindrical peg on the wooden toy."} +{"subtask_index": 375, "subtask": "Left hand: idle: Left hand remains empty with no observable operational movement throughout the segment, initially stationary at the left edge of the frame before moving out of view. | Right hand: press: Right hand applies downward vertical pressure on the yellow cylindrical peg using the yellow hammer head, pressing the peg into the hole on the wooden toy."} +{"subtask_index": 376, "subtask": "Left hand: idle: Left hand remains empty with no observable operational movement throughout the segment, initially stationary at the left edge of the frame before moving out of view. | Right hand: release: Right hand opens its fingers to release the wooden hammer handle, separating its digits from the hammer surface."} +{"subtask_index": 377, "subtask": "Left hand: idle: Left hand remains empty with no observable operational movement throughout the segment, initially stationary at the left edge of the frame before moving out of view. | Right hand: grasp: Right hand adjusts finger positions to close around and form a stable grip on the wooden handle of the hammer resting on the wooden peg platform."} +{"subtask_index": 378, "subtask": "Left hand: idle: Left hand remains empty with no observable operational movement throughout the segment, initially stationary at the left edge of the frame before moving out of view. | Right hand: lift_transport: Right hand lifts the hammer completely off the wooden peg platform and transports it rightward across the black textured mat to the area right of the platform."} +{"subtask_index": 379, "subtask": "Left hand: idle: Left hand remains empty with no observable operational movement throughout the segment, initially stationary at the left edge of the frame before moving out of view. | Right hand: place_release: Right hand lowers the hammer downward to set its wooden handle on the black mat surface and opens its fingers to release all contact with the hammer handle, remaining stationary next to the placed hammer at the end of the segment."} +{"subtask_index": 380, "subtask": "Left hand: idle: Left hand remains empty with no observable operational movement throughout the segment, initially stationary at the left edge of the frame before moving out of view. | Right hand: retreat: Right hand stays empty, moves upward and toward the top right direction, retreating away from the position adjacent to the wooden mallet on the black textured work surface."} +{"subtask_index": 381, "subtask": "Left hand: idle: Left hand remains empty with no observable operational movement throughout the segment, initially stationary at the left edge of the frame before moving out of view. | Right hand: other:out_of_view: Right hand is outside the top right edge of the camera view, with no observable actions or interactions with objects in the scene."} +{"subtask_index": 382, "subtask": "Left hand: idle: Left hand remains empty with no observable operational movement throughout the segment, initially stationary at the left edge of the frame before moving out of view."} +{"subtask_index": 383, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left edge of the frame. | Right hand: reach: Right hand moves down and left from the top-right edge of the frame with an open hand, approaching the wooden handle of the yellow mallet."} +{"subtask_index": 384, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left edge of the frame. | Right hand: grasp: Right hand closes fingers around the wooden handle of the yellow mallet, making small adjustments to finger contact positions to form a grip on the handle."} +{"subtask_index": 385, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left edge of the frame. | Right hand: grasp: Right hand adjusts finger positions on the wooden mallet handle resting on the black table surface, tightening its grip to form a stable hold."} +{"subtask_index": 386, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left edge of the frame. | Right hand: lift: Right hand lifts the grasped wooden mallet vertically upward until the mallet is completely raised off the black table surface."} +{"subtask_index": 387, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left edge of the frame. | Right hand: transport: Right hand carries the lifted wooden mallet leftward toward the wooden peg toy, rotating the wrist about a quarter turn clockwise to orient the mallet's yellow head vertically downward until the head rests against the top surface of the peg toy."} +{"subtask_index": 388, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left edge of the frame."} +{"subtask_index": 389, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left edge of the frame. | Right hand: transport: Right hand firmly grasps the wooden mallet and moves it rightward through the air above the black textured work surface, carrying the mallet away from the wooden peg toy structure."} +{"subtask_index": 390, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left edge of the frame. | Right hand: place: Right hand lowers the grasped wooden mallet vertically down toward the black work surface until the entire mallet rests steadily on the surface, supported by the mat."} +{"subtask_index": 391, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left edge of the frame. | Right hand: hold: Right hand maintains a stable grasp on the yellow head of the wooden mallet, holding the mallet stationary on the right side of the work surface without any observable movement."} +{"subtask_index": 392, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left edge of the frame. | Right hand: release: Right hand opens its fingers to release the grasp on the wooden mallet's yellow head, separating the fingers from the mallet surface."} +{"subtask_index": 393, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left edge of the frame. | Right hand: retreat: Right hand stays empty, moves upward and rightward to retreat away from the yellow wooden mallet placed on the black work surface."} +{"subtask_index": 394, "subtask": "Right hand: reach: Right hand enters from the top right of the frame and moves toward the yellow hammer on the right side of the black mat, remaining empty and not touching the hammer."} +{"subtask_index": 395, "subtask": "Right hand: grasp: Right hand contacts the wooden handle of the yellow hammer, adjusts its fingers to establish a stable grip on the hammer."} +{"subtask_index": 396, "subtask": "Right hand: grasp: Right hand grasps the wooden handle of the yellow hammer on the black mat, adjusting fingers to form a stable grip."} +{"subtask_index": 397, "subtask": "Right hand: lift: Right hand lifts the yellow hammer completely off the black mat."} +{"subtask_index": 398, "subtask": "Right hand: transport: Right hand transports the yellow hammer to move above the wooden peg toy."} +{"subtask_index": 399, "subtask": "Right hand: other:hammer_pegs: Right hand holds the yellow hammer and hits the pegs on the wooden board repeatedly."} +{"subtask_index": 400, "subtask": "Right hand: transport: Right hand transports the yellow hammer towards the right side of the black table surface."} +{"subtask_index": 401, "subtask": "Right hand: place_release: Right hand places the yellow hammer on the right black table surface and releases the hammer handle."} +{"subtask_index": 402, "subtask": "Right hand: retreat: Right hand retreats to the right side away from the operation area."} +{"subtask_index": 403, "subtask": "Right hand: reach: Right hand reaches toward the yellow wooden hammer on the black textured mat, moving down-left from the right edge of the frame with fingers open."} +{"subtask_index": 404, "subtask": "Right hand: reach: Right hand moves left toward the wooden handle of the yellow-headed hammer on the black textured mat."} +{"subtask_index": 405, "subtask": "Right hand: grasp: Right hand closes its fingers around the wooden handle of the yellow-headed hammer, making slight grip adjustments."} +{"subtask_index": 406, "subtask": "Right hand: grasp: Right hand adjusts its grasp on the wooden handle of the yellow-headed hammer resting on the black table surface, repositioning slightly along the handle to stabilize the grip."} +{"subtask_index": 407, "subtask": "Right hand: lift: Right hand lifts the yellow-headed hammer off the black table surface, moving it upward and slightly leftward."} +{"subtask_index": 408, "subtask": "Right hand: transport: Right hand transports the yellow-headed hammer up-leftward while rotating it clockwise by about 90 degrees, moving toward the wooden pegboard."} +{"subtask_index": 409, "subtask": "Right hand: transport: Right hand holds the wooden handle of the hammer and transports the hammer rightward while lowering it."} +{"subtask_index": 410, "subtask": "Right hand: press: Right hand presses the yellow hammerhead down onto the wooden pegboard to apply pressure."} +{"subtask_index": 411, "subtask": "Right hand: lift_transport: Right hand lifts the wooden hammer with a yellow head from the peg board and transports it horizontally to the right side of the peg board."} +{"subtask_index": 412, "subtask": "Right hand: place_release: Right hand places the wooden hammer onto the black textured surface to the right of the peg board and releases its grip from the hammer handle."} +{"subtask_index": 413, "subtask": "Right hand: idle: Right hand remains empty at the right side of the frame without moving."} +{"subtask_index": 414, "subtask": "Right hand: retreat: Right hand retreats rightward from the area near the yellow hammer toward the right edge of the frame."} +{"subtask_index": 415, "subtask": "Right hand: reach: Right hand enters from the top-right edge of the frame, moves downward with open fingers to approach the wooden handle of the mallet resting on the black mat."} +{"subtask_index": 416, "subtask": "Right hand: grasp: Right hand closes fingers around the wooden handle of the mallet, making small contact adjustments to form a stable grip, with the mallet remaining on the mat surface."} +{"subtask_index": 417, "subtask": "Right hand: lift: Right hand moves the grasped mallet upward, lifting the entire mallet completely away from the supporting black mat."} +{"subtask_index": 418, "subtask": "Right hand: transport: Right hand carries the grasped mallet, moving it horizontally leftward until the yellow mallet head is positioned directly above the wooden peg platform."} +{"subtask_index": 419, "subtask": "Right hand: grasp: Right hand makes slight finger adjustments to secure its grip on the wooden mallet handle, with minimal positional change of the mallet."} +{"subtask_index": 420, "subtask": "Right hand: press: Right hand moves the wooden mallet vertically downward to apply pressure on the green peg placed on the perforated wooden board."} +{"subtask_index": 421, "subtask": "Right hand: grasp: Right hand adjusts its grip on the wooden mallet handle, with fingers slightly shifting to secure a stable hold on the mallet."} +{"subtask_index": 422, "subtask": "Right hand: hold: Right hand holds the wooden mallet steadily against the wooden peg toy, with no observable movement of the hand or mallet."} +{"subtask_index": 423, "subtask": "Right hand: lift_transport: Right hand lifts the wooden mallet slightly off the wooden peg surface and shifts it a short distance upward."} +{"subtask_index": 424, "subtask": "Right hand: transport: Right hand holds the wooden mallet and moves it horizontally to the right over the black mat, away from the wooden base with green pegs."} +{"subtask_index": 425, "subtask": "Right hand: place_release: Right hand lowers the wooden mallet to rest on the black mat to the right of the wooden base, opens the fingers to release grip on the mallet, and separates from the mallet."} +{"subtask_index": 426, "subtask": "Right hand: idle: Right hand remains empty, stationary in the air above and to the right of the placed mallet with no observable movement."} +{"subtask_index": 427, "subtask": "Right hand: retreat: Right hand remains empty while moving upward toward the top-right edge of the frame, away from the wooden toy and yellow hammer on the black table surface, until it fully exits the visible field of view."} +{"subtask_index": 428, "subtask": "Right hand: reach: Right hand enters from the right edge of the frame and moves towards the yellow hammer on the black mat."} +{"subtask_index": 429, "subtask": "Right hand: grasp: Right hand closes its fingers around the wooden handle of the yellow hammer and adjusts to form a stable grasp."} +{"subtask_index": 430, "subtask": "Right hand: lift: Right hand lifts the yellow hammer upwards until it completely leaves the black mat supporting surface."} +{"subtask_index": 431, "subtask": "Right hand: transport: Right hand carries the yellow hammer and moves towards the wooden block with green legs."} +{"subtask_index": 432, "subtask": "Right hand: transport: Right hand transports the yellow hammer to the position right above the red peg on the wooden board."} +{"subtask_index": 433, "subtask": "Right hand: hold: Right hand holds the yellow hammer with its head contacting the red peg without moving."} +{"subtask_index": 434, "subtask": "Right hand: press: Right hand presses the red peg downward with the yellow hammer."} +{"subtask_index": 435, "subtask": "Right hand: hold: Right hand holds the yellow hammer pressing on the red peg without moving."} +{"subtask_index": 436, "subtask": "Right hand: press: Right hand presses the red peg downward with the yellow hammer again."} +{"subtask_index": 437, "subtask": "Right hand: transport: Right hand transports the yellow hammer backward away from the red peg."} +{"subtask_index": 438, "subtask": "Right hand: transport: Right hand transports the yellow hammer rightward above the black textured mat."} +{"subtask_index": 439, "subtask": "Right hand: place_release: Right hand places the yellow hammer onto the right side of the black textured mat and releases it."} +{"subtask_index": 440, "subtask": "Right hand: retreat: Right hand moves slightly backward away from the placed yellow hammer."} +{"subtask_index": 441, "subtask": "Right hand: reach: Right hand enters from the top-right edge of the frame and moves downward empty, approaching the wooden handle of the yellow-headed mallet placed on the black textured surface."} +{"subtask_index": 442, "subtask": "Right hand: grasp: Right hand closes fingers around the wooden handle of the yellow-headed mallet, making fine adjustments to the grip while the mallet remains resting on the black surface."} +{"subtask_index": 443, "subtask": "Right hand: grasp: Right hand closes fingers around the wooden mallet handle, adjusting contact points to form a stable grip while the mallet remains resting on the black mat."} +{"subtask_index": 444, "subtask": "Right hand: lift: Right hand lifts the grasped wooden mallet upward, raising the entire mallet completely off the black supporting mat."} +{"subtask_index": 445, "subtask": "Right hand: transport: Right hand moves the lifted wooden mallet leftward toward the central wooden platform, rotating the wrist slightly to orient the yellow mallet head downward toward the platform surface."} +{"subtask_index": 446, "subtask": "Right hand: hold: Right hand holds the wooden mallet stationary above the central wooden platform with the yellow mallet head resting on the platform, with no visible movement or grip adjustment."} +{"subtask_index": 447, "subtask": "Right hand: transport: Right hand holds the yellow wooden mallet and moves it upward to a raised position above the red peg on the perforated wooden base."} +{"subtask_index": 448, "subtask": "Right hand: transport_press: Right hand swings the held yellow mallet downward and applies downward pressure on the red peg."} +{"subtask_index": 449, "subtask": "Right hand: hold: Right hand holds the yellow mallet stationary in position after making contact with the red peg."} +{"subtask_index": 450, "subtask": "Right hand: press: Right hand holds the yellow wooden mallet and moves it vertically downward to apply pressure to the red peg on the light wooden base."} +{"subtask_index": 451, "subtask": "Right hand: hold: Right hand holds the yellow wooden mallet completely still above the wooden base, with no visible movement of the hand, wrist or mallet."} +{"subtask_index": 452, "subtask": "Right hand: press: Right hand moves the yellow wooden mallet slightly further vertically downward to apply additional pressure to the red peg."} +{"subtask_index": 453, "subtask": "Right hand: transport: Right hand carries the yellow wooden mallet and moves it slightly vertically upward away from the red peg."} +{"subtask_index": 454, "subtask": "Right hand: lift: Right hand holds the wooden mallet with a yellow head and lifts it upward to completely separate it from the supporting wooden peg toy."} +{"subtask_index": 455, "subtask": "Right hand: transport: Right hand carries the lifted yellow-headed mallet and moves it rightward across the table surface to the right side of the tabletop."} +{"subtask_index": 456, "subtask": "Right hand: release: Right hand opens its fingers to release the grip on the mallet handle, separating the hand from the mallet."} +{"subtask_index": 457, "subtask": "Right hand: idle: Right hand remains empty above the yellow head of the mallet on the table without moving."} +{"subtask_index": 458, "subtask": "Right hand: reach_grasp: Right hand enters from the top-right frame edge, moves toward the yellow wooden hammer, contacts the yellow hammer head, adjusts finger positions and closes fingers to grasp the hammer head."} +{"subtask_index": 459, "subtask": "Right hand: reach: Right hand enters from the top-right of the frame and moves down-left toward the yellow hammer placed on the black mat."} +{"subtask_index": 460, "subtask": "Right hand: grasp: Right hand closes its fingers to grasp the wooden handle of the yellow hammer, with minor adjustments to stabilize the grip."} +{"subtask_index": 461, "subtask": "Right hand: grasp: Right hand grasps the yellow hammer with wooden handle on the black tabletop, adjusting its grip to stabilize the hold."} +{"subtask_index": 462, "subtask": "Right hand: lift_transport: Right hand lifts the hammer from the tabletop and transports it left-up to the position above the red peg on the wooden peg board."} +{"subtask_index": 463, "subtask": "Right hand: hold: Right hand holds the hammer stationary above the red peg on the wooden peg board."} +{"subtask_index": 464, "subtask": "Right hand: press: Right hand presses the hammer down onto the red peg to hit it."} +{"subtask_index": 465, "subtask": "Right hand: lift: Right hand lifts the hammer upward away from the red peg."} +{"subtask_index": 466, "subtask": "Right hand: press: Right hand presses the hammer down onto the red peg for a second hit."} +{"subtask_index": 467, "subtask": "Right hand: lift: Right hand lifts the hammer upward away from the red peg again."} +{"subtask_index": 468, "subtask": "Right hand: press: Right hand presses the hammer down onto the red peg for a third hit."} +{"subtask_index": 469, "subtask": "Right hand: transport: Right hand holds the hammer and moves it toward the down-right direction."} +{"subtask_index": 470, "subtask": "Right hand: place: Right hand lowers the hammer until it is supported by the black textured mat."} +{"subtask_index": 471, "subtask": "Right hand: release_retreat: Right hand opens fingers to release the hammer handle and moves slightly away from the hammer."} +{"subtask_index": 472, "subtask": "Left hand: idle: Left hand remains empty at the far left edge of the frame without moving. | Right hand: idle: Right hand remains empty at the top-right edge of the frame without moving."} +{"subtask_index": 473, "subtask": "Left hand: idle: Left hand remains empty at the far left edge of the frame without moving. | Right hand: reach: Right hand moves diagonally down toward the wooden handle of the yellow mallet with fingers slightly open."} +{"subtask_index": 474, "subtask": "Left hand: idle: Left hand remains empty at the far left edge of the frame without moving. | Right hand: grasp: Right hand adjusts finger positions to close around the wooden handle of the yellow mallet to establish a grip."} +{"subtask_index": 475, "subtask": "Left hand: idle: Left hand remains empty at the far left edge of the frame without moving. | Right hand: grasp: Right hand adjusts finger positions on the wooden mallet handle to form a stable, secure grip."} +{"subtask_index": 476, "subtask": "Left hand: idle: Left hand remains empty at the far left edge of the frame without moving. | Right hand: lift_transport: Right hand lifts the wooden mallet fully off the black work surface while moving it leftward toward the center wooden peg toy."} +{"subtask_index": 477, "subtask": "Left hand: idle: Left hand remains empty at the far left edge of the frame without moving. | Right hand: hold: Right hand holds the wooden mallet stationary above the wooden peg toy with no visible movement of the hand or mallet."} +{"subtask_index": 478, "subtask": "Left hand: idle: Left hand remains empty at the far left edge of the frame without moving. | Right hand: grasp: Right hand makes slight finger adjustments around the wooden mallet handle to stabilize the grip, with small positional shifts of the mallet over the light wooden pegboard."} +{"subtask_index": 479, "subtask": "Left hand: idle: Left hand remains empty at the far left edge of the frame without moving. | Right hand: press: Right hand presses the wooden mallet vertically downward onto the red peg mounted on the light wooden pegboard."} +{"subtask_index": 480, "subtask": "Left hand: idle: Left hand remains empty at the far left edge of the frame without moving. | Right hand: hold: Right hand holds the wooden mallet steady on the red peg of the light wooden pegboard without observable movement."} +{"subtask_index": 481, "subtask": "Left hand: idle: Left hand remains empty at the far left edge of the frame without moving. | Right hand: lift_transport: Right hand lifts the wooden mallet off the light wooden pegboard and moves it toward the upper right area of the frame."} +{"subtask_index": 482, "subtask": "Left hand: idle: Left hand remains empty at the far left edge of the frame without moving. | Right hand: transport: Right hand grips the wooden hammer with a yellow head, moving it rightward and downward over the black platform toward the right side of the workspace."} +{"subtask_index": 483, "subtask": "Left hand: idle: Left hand remains empty at the far left edge of the frame without moving. | Right hand: place_release: Right hand lowers the wooden hammer to the black platform surface, fingers opening to release grip on the wooden handle."} +{"subtask_index": 484, "subtask": "Left hand: idle: Left hand remains empty at the far left edge of the frame without moving. | Right hand: retreat: Right hand moves upward and slightly rightward while empty, pulling away from the wooden hammer resting on the platform."} +{"subtask_index": 485, "subtask": "Left hand: idle: Left hand remains empty at the far left edge of the frame without moving."} +{"subtask_index": 486, "subtask": "Right hand: reach: Right hand moves downward from the top-right of the frame toward the yellow hammer with a wooden handle on the black mat."} +{"subtask_index": 487, "subtask": "Right hand: grasp: Right hand grasps the wooden handle of the yellow hammer, with fingers adjusting contact position to form a stable grip."} +{"subtask_index": 488, "subtask": "Right hand: grasp: Right hand grasps the wooden handle of the yellow-headed hammer on the black mat, with fingers adjusting to form a stable grip."} +{"subtask_index": 489, "subtask": "Right hand: lift: Right hand lifts the yellow-headed hammer upward until it is fully off the black mat surface."} +{"subtask_index": 490, "subtask": "Right hand: transport: Right hand transports the yellow-headed hammer leftward toward the wooden pegboard with red and green pegs."} +{"subtask_index": 491, "subtask": "Right hand: hold: Right hand holds the yellow-headed hammer with its head resting on the wooden board without moving."} +{"subtask_index": 492, "subtask": "Right hand: lift_transport: Right hand lifts the yellow-headed hammer off the wooden board and moves it upward away from the board surface."} +{"subtask_index": 493, "subtask": "Right hand: other:strike_peg: Right hand moves the yellow-headed hammer downward to strike the peg on the wooden board."} +{"subtask_index": 494, "subtask": "Right hand: lift_transport: Right hand lifts the yellow-headed hammer away from the wooden peg on the pegboard and transports it rightward, rotating it clockwise to tilt from vertical orientation to nearly horizontal."} +{"subtask_index": 495, "subtask": "Right hand: place: Right hand places the yellow-headed hammer downward onto the black textured table surface until it is fully supported."} +{"subtask_index": 496, "subtask": "Right hand: hold: Right hand holds the yellow-headed hammer stationary on the black textured table surface."} +{"subtask_index": 497, "subtask": "Right hand: release: Right hand releases the yellow-headed hammer by opening its fingers, separating completely from the hammer handle."} +{"subtask_index": 498, "subtask": "Right hand: retreat: Right hand remains empty and moves upward, exiting the frame from the top-right edge."} +{"subtask_index": 499, "subtask": "Right hand: reach: Right hand moves left from the top right of the frame toward the yellow hammer with wooden handle on the black mat."} +{"subtask_index": 500, "subtask": "Right hand: grasp: Right hand contacts the wooden handle of the yellow hammer and adjusts fingers to form a stable grasp."} +{"subtask_index": 501, "subtask": "Right hand: lift: Right hand lifts the grasped yellow hammer off the black mat surface."} +{"subtask_index": 502, "subtask": "Right hand: transport: Right hand transports the yellow hammer left to the position above the wooden peg board."} +{"subtask_index": 503, "subtask": "Right hand: transport: Right hand transports the yellow hammer downward to align with the green peg on the wooden base."} +{"subtask_index": 504, "subtask": "Right hand: press: Right hand presses the yellow hammer down to strike the green peg."} +{"subtask_index": 505, "subtask": "Right hand: hold: Right hand holds the yellow hammer against the green peg without moving."} +{"subtask_index": 506, "subtask": "Right hand: transport: Right hand transports the yellow hammer upward away from the green peg."} +{"subtask_index": 507, "subtask": "Right hand: press: Right hand presses the yellow hammer down to strike the green peg again."} +{"subtask_index": 508, "subtask": "Right hand: transport: Right hand transports the yellow hammer upward away from the wooden base."} +{"subtask_index": 509, "subtask": "Right hand: transport: Right hand transports the yellow hammer rightward away from the wooden peg toy."} +{"subtask_index": 510, "subtask": "Right hand: place: Right hand places the yellow hammer onto the right side of the black table surface."} +{"subtask_index": 511, "subtask": "Right hand: release: Right hand releases the yellow hammer resting on the black table surface."} +{"subtask_index": 512, "subtask": "Right hand: retreat: Right hand retreats away from the yellow hammer placed on the black table."} +{"subtask_index": 513, "subtask": "Right hand: reach: Right hand enters the frame from the top right and moves toward the yellow hammer on the black mat."} +{"subtask_index": 514, "subtask": "Right hand: grasp: Right hand adjusts its fingers around the wooden handle of the yellow hammer to form a stable grasp."} +{"subtask_index": 515, "subtask": "Right hand: lift: Right hand lifts the yellow hammer upward until it completely leaves the black mat."} +{"subtask_index": 516, "subtask": "Right hand: transport: Right hand carries the yellow hammer to move toward the wooden peg toy with green supporting legs."} +{"subtask_index": 517, "subtask": "Right hand: press: Right hand holds the hammer and moves the yellow hammer head down to hit the red nail on the wooden board."} +{"subtask_index": 518, "subtask": "Right hand: hold: Right hand holds the hammer stationary above the wooden board."} +{"subtask_index": 519, "subtask": "Right hand: press: Right hand moves the yellow hammer head down to hit the red nail on the wooden board."} +{"subtask_index": 520, "subtask": "Right hand: transport: Right hand holds the hammer and moves to the right away from the wooden board."} +{"subtask_index": 521, "subtask": "Right hand: transport: Right hand transports the hammer with yellow head and wooden handle rightward away from the wooden peg toy."} +{"subtask_index": 522, "subtask": "Right hand: place_release: Right hand places the hammer on the black textured mat and releases its grip on the hammer handle."} +{"subtask_index": 523, "subtask": "Right hand: retreat: Right hand retreats upward and rightward away from the placed hammer."} +{"subtask_index": 524, "subtask": "Right hand: reach: Right hand moves leftward and downward toward the wooden handle of the yellow hammer on the black mat."} +{"subtask_index": 525, "subtask": "Right hand: grasp: Right hand closes its fingers around the wooden handle of the yellow hammer to form a grasp."} +{"subtask_index": 526, "subtask": "Right hand: grasp: Right hand grasps the wooden handle of the yellow hammer on the black textured table, adjusting its grip to stabilize the hold."} +{"subtask_index": 527, "subtask": "Right hand: lift: Right hand lifts the yellow hammer upwards from the black textured table until the hammer is completely off the supporting surface."} +{"subtask_index": 528, "subtask": "Right hand: transport: Right hand transports the yellow hammer towards the red peg on the wooden pegboard, while rotating the hammer clockwise about a quarter turn to align the hammer head with the peg."} +{"subtask_index": 529, "subtask": "Right hand: press: Right hand presses the yellow hammer downward by pulling its wooden handle, making the hammer head move down to apply pressure on the object on the perforated wooden board."} +{"subtask_index": 530, "subtask": "Right hand: transport: Right hand transports the yellow hammer upward by pushing its wooden handle, lifting the hammer head away from the pressed object on the wooden board."} +{"subtask_index": 531, "subtask": "Right hand: press: Right hand presses the yellow hammer downward again by pulling its wooden handle, making the hammer head move down to apply pressure on the object on the perforated wooden board."} +{"subtask_index": 532, "subtask": "Right hand: lift: Right hand lifts the yellow hammer off the wooden toy, making the hammer head leave the supporting surface."} +{"subtask_index": 533, "subtask": "Right hand: transport: Right hand carries the yellow hammer rightward and upward to the upper right area of the frame."} +{"subtask_index": 534, "subtask": "Right hand: reorient: Right hand rotates the yellow hammer counterclockwise about 90 degrees, with slight downward movement of the hand."} +{"subtask_index": 535, "subtask": "Right hand: place_release: Right hand places the lower end of the hammer handle on the black mat with the hammer head leaning against the right wall, and releases its grip on the hammer handle."} +{"subtask_index": 536, "subtask": "Right hand: retreat: Right hand moves slightly backward away from the hammer."} +{"subtask_index": 537, "subtask": "Right hand: release: Right hand releases the yellow hammer's handle, with fingers opening and separating from the hammer."} +{"subtask_index": 538, "subtask": "Right hand: retreat: Right hand moves upward away from the yellow hammer on the right black table surface, retreating out of the frame."} +{"subtask_index": 539, "subtask": "Right hand: reach: Right hand enters from the top-right edge of the frame, moves diagonally downward toward the wooden handle of the yellow mallet on the black textured surface, with fingers slightly extended and open."} +{"subtask_index": 540, "subtask": "Right hand: grasp: Right hand makes contact with the wooden handle of the yellow mallet, fingers gradually close around the handle with small positional adjustments to form a stable grip, while the mallet remains resting on the black surface."} +{"subtask_index": 541, "subtask": "Right hand: pull: Right hand grips the wooden handle of the yellow mallet, pulls the mallet slightly along the black surface toward the hand's position, with the mallet remaining in contact with the supporting surface."} +{"subtask_index": 542, "subtask": "Right hand: lift: Right hand holds the wooden handle of the yellow-headed hammer in a stable grasp, lifts the hammer upward from the black textured support surface until the entire hammer is completely lifted off the surface."} +{"subtask_index": 543, "subtask": "Right hand: transport: Right hand carries the fully lifted hammer, moving it leftward and slightly downward, and rotates the hammer from a near-horizontal diagonal orientation to a near-vertical orientation during the movement."} +{"subtask_index": 544, "subtask": "Right hand: place: Right hand lowers the vertically oriented hammer onto the light brown wooden peg toy, until the hammer is supported by the toy structure."} +{"subtask_index": 545, "subtask": "Right hand: grasp: Right hand adjusts its grip on the wooden handle of the hammer, with fingers shifting contact points to reposition the hold."} +{"subtask_index": 546, "subtask": "Right hand: press_lift: Right hand presses the held hammer vertically downward to drive the nail into the wooden block, then lifts the hammer slightly upward to separate its head from the block surface."} +{"subtask_index": 547, "subtask": "Right hand: lift: Right hand firmly holds the wooden-handled hammer with a yellow head, and lifts it upward until the hammer fully detaches from the supporting peg toy."} +{"subtask_index": 548, "subtask": "Right hand: transport: Right hand carries the detached hammer, moves it horizontally rightward through the air to the area right of the peg toy, with the hammer rotating about a quarter turn clockwise as it moves."} +{"subtask_index": 549, "subtask": "Right hand: place_release: Right hand lowers the hammer vertically onto the black mat surface, opens its fingers to release the hammer handle, and leaves the hammer lying stably on the mat."} +{"subtask_index": 550, "subtask": "Right hand: retreat: Right hand remains empty and moves upward toward the top-right edge of the camera frame until exiting out of the visible view."} +{"subtask_index": 551, "subtask": "Right hand: reach: Right hand moves empty downward from the upper right edge of the frame toward the wooden handle of the yellow mallet."} +{"subtask_index": 552, "subtask": "Right hand: grasp: Right hand makes contact with the wooden handle of the yellow mallet, closing fingers and making small adjustments to establish a grip on the handle."} +{"subtask_index": 553, "subtask": "Right hand: grasp: Right hand adjusts its fingers to close firmly around the wooden handle of the yellow-headed hammer resting on the black surface, forming a stable grip."} +{"subtask_index": 554, "subtask": "Right hand: lift: Right hand lifts the firmly grasped hammer upward, until the entire hammer is completely lifted off the black supporting surface."} +{"subtask_index": 555, "subtask": "Right hand: transport: Right hand carries the lifted hammer moving toward the wooden peg board, rotating the hammer slightly counterclockwise by about 90 degrees to align the yellow hammer head vertically downward over the peg on the board."} +{"subtask_index": 556, "subtask": "Right hand: hold: Right hand holds the hammer steadily above the wooden peg board without any observable movement, with the yellow hammer head positioned over the target peg."} +{"subtask_index": 557, "subtask": "Right hand: lift: Right hand grips the wooden hammer handle and lifts the hammer upward, raising the bottom end of the wooden handle completely off the black work surface."} +{"subtask_index": 558, "subtask": "Right hand: transport: Right hand carries the lifted hammer, making slight positional adjustments to align the yellow hammer head directly above the target green peg on the wooden pegboard."} +{"subtask_index": 559, "subtask": "Right hand: press: Right hand moves the hammer vertically downward, pressing the yellow hammer head against the green peg to push the peg further into the wooden pegboard."} +{"subtask_index": 560, "subtask": "Right hand: grasp: Right hand holds the wooden handle of the hammer, makes continuous small adjustments to finger grip and wrist position, slightly moving the hammer above the wooden toy to adjust its position."} +{"subtask_index": 561, "subtask": "Right hand: transport: Right hand holds the wooden hammer and moves it rightward away from the wooden peg toy to the right area of the black work surface."} +{"subtask_index": 562, "subtask": "Right hand: release: Right hand opens its fingers to release the wooden hammer, allowing the hammer to drop onto the black work surface."} +{"subtask_index": 563, "subtask": "Right hand: idle: Right hand remains empty above the right side of the black work surface without moving."} +{"subtask_index": 564, "subtask": "Right hand: retreat: Right hand moves upward and rightward with an empty hand until it completely exits the camera frame."} +{"subtask_index": 565, "subtask": "Right hand: reach: Right hand moves from the right edge of the frame toward the yellow hammer on the black mat."} +{"subtask_index": 566, "subtask": "Right hand: grasp: Right hand adjusts its fingers to close around the wooden handle of the yellow hammer."} +{"subtask_index": 567, "subtask": "Right hand: grasp: Right hand adjusts its fingers to form a stable grip on the yellow hammer with wooden handle on the black mat."} +{"subtask_index": 568, "subtask": "Right hand: lift_transport: Right hand lifts the yellow hammer from the black mat and moves it above the green peg on the wooden board."} +{"subtask_index": 569, "subtask": "Right hand: place: Right hand lowers the yellow hammer to place its yellow head on the top of the green peg on the wooden board."} +{"subtask_index": 570, "subtask": "Right hand: press: Right hand presses the yellow hammer down against the green peg to push the peg into the wooden board."} +{"subtask_index": 571, "subtask": "Right hand: hold: Right hand holds the yellow hammer against the green peg on the wooden board without moving."} +{"subtask_index": 572, "subtask": "Right hand: press: Right hand presses the yellow hammer down again against the green peg to further push the peg into the wooden board."} +{"subtask_index": 573, "subtask": "Right hand: transport: Right hand transports the yellow hammer toward the right side of the black mat."} +{"subtask_index": 574, "subtask": "Right hand: reach: Right hand enters from the top right of the frame, moves downward and left toward the yellow hammer on the black mat."} +{"subtask_index": 575, "subtask": "Right hand: grasp: Right hand closes its fingers and adjusts to grasp the wooden handle of the yellow hammer."} +{"subtask_index": 576, "subtask": "Right hand: grasp: Right hand adjusts fingers around the wooden handle of the yellow hammer on the black mat to form a stable grip."} +{"subtask_index": 577, "subtask": "Right hand: lift: Right hand lifts the yellow hammer completely off the black supporting mat."} +{"subtask_index": 578, "subtask": "Right hand: transport: Right hand transports the yellow hammer leftward toward the wooden peg toy, adjusting the hammer's orientation to vertical and moving it down above the red peg on the toy."} +{"subtask_index": 579, "subtask": "Right hand: grasp: Right hand adjusts fingers to stably grasp the wooden handle of the hammer."} +{"subtask_index": 580, "subtask": "Right hand: transport: Right hand holds the hammer and moves it upward away from the red peg on the wooden peg toy."} +{"subtask_index": 581, "subtask": "Right hand: press: Right hand moves the hammer downward to press against the red peg on the wooden peg toy."} +{"subtask_index": 582, "subtask": "Right hand: transport: Right hand transports the yellow hammer with wooden handle towards the right side of the wooden peg toy."} +{"subtask_index": 583, "subtask": "Right hand: place_release: Right hand places the yellow hammer onto the black textured mat and releases its grip on the hammer handle."} +{"subtask_index": 584, "subtask": "Right hand: retreat: Right hand retreats empty-handed in the upper right direction."} +{"subtask_index": 585, "subtask": "Left hand: idle: Left hand is not visible in the frame throughout the segment, with no observable movement or contact with any objects. | Right hand: reach: Right hand remains out of frame and stationary at frame 0, enters the frame from the top-right corner, moves downward toward the light brown wooden handle of the yellow-headed hammer with fingers slightly spread."} +{"subtask_index": 586, "subtask": "Left hand: idle: Left hand is not visible in the frame throughout the segment, with no observable movement or contact with any objects. | Right hand: grasp: Right hand makes contact with the wooden hammer handle, closes fingers gradually around the handle and adjusts finger positions to establish a grip on the hammer resting on the black textured surface."} +{"subtask_index": 587, "subtask": "Left hand: idle: Left hand is not visible in the frame throughout the segment, with no observable movement or contact with any objects. | Right hand: grasp: Right hand closes fingers around the wooden handle of the hammer resting on the black work surface to form a stable grip."} +{"subtask_index": 588, "subtask": "Left hand: idle: Left hand is not visible in the frame throughout the segment, with no observable movement or contact with any objects. | Right hand: lift: Right hand lifts the grasped hammer upward until the hammer is fully separated from the black work surface."} +{"subtask_index": 589, "subtask": "Left hand: idle: Left hand is not visible in the frame throughout the segment, with no observable movement or contact with any objects. | Right hand: transport: Right hand moves the lifted hammer leftward and upward to position it above the red peg on the wooden peg board."} +{"subtask_index": 590, "subtask": "Left hand: idle: Left hand is not visible in the frame throughout the segment, with no observable movement or contact with any objects. | Right hand: hold: Right hand holds the hammer stationary above the red peg on the wooden peg board with no observable movement of hand, fingers or the hammer."} +{"subtask_index": 591, "subtask": "Left hand: idle: Left hand is not visible in the frame throughout the segment, with no observable movement or contact with any objects. | Right hand: transport_press: Right hand grips the wooden-handled hammer with a yellow head, moves vertically downward to apply downward pressure on the red peg on the light brown wooden pegboard, driving the peg into the board."} +{"subtask_index": 592, "subtask": "Left hand: idle: Left hand is not visible in the frame throughout the segment, with no observable movement or contact with any objects. | Right hand: hold: Right hand holds the wooden-handled hammer stationary over the pegboard, with the yellow hammer head resting on the pressed peg, no observable movement of the hand or hammer."} +{"subtask_index": 593, "subtask": "Left hand: idle: Left hand is not visible in the frame throughout the segment, with no observable movement or contact with any objects. | Right hand: lift: Right hand grips the wooden hammer handle and lifts the hammer slightly upward, raising the yellow hammer head completely off the wooden peg bench surface."} +{"subtask_index": 594, "subtask": "Left hand: idle: Left hand is not visible in the frame throughout the segment, with no observable movement or contact with any objects. | Right hand: transport: Right hand carries the lifted hammer, shifting horizontally and making slight rotational adjustments to align the yellow hammer head directly over the red peg on the wooden peg bench, with minor finger adjustments to maintain a stable grip on the handle."} +{"subtask_index": 595, "subtask": "Left hand: idle: Left hand is not visible in the frame throughout the segment, with no observable movement or contact with any objects."} +{"subtask_index": 596, "subtask": "Left hand: idle: Left hand is not visible in the frame throughout the segment, with no observable movement or contact with any objects. | Right hand: lift: Right hand grips the wooden hammer handle, lifting the hammer vertically upward off the wooden peg board until it fully separates from the board surface."} +{"subtask_index": 597, "subtask": "Left hand: idle: Left hand is not visible in the frame throughout the segment, with no observable movement or contact with any objects. | Right hand: transport: Right hand holds the lifted wooden hammer, moving it horizontally right across the black mat toward the right resting position."} +{"subtask_index": 598, "subtask": "Left hand: idle: Left hand is not visible in the frame throughout the segment, with no observable movement or contact with any objects. | Right hand: place_release: Right hand lowers the hammer downward to rest on the right black mat, opening fingers to release grip on the hammer handle as the hammer settles on the surface."} +{"subtask_index": 599, "subtask": "Left hand: idle: Left hand is not visible in the frame throughout the segment, with no observable movement or contact with any objects. | Right hand: retreat: Right hand moves empty upward away from the resting hammer, pulling back from the hammer's position on the mat."} +{"subtask_index": 600, "subtask": "Right hand: reach: Right hand enters from the right side of the frame and moves left toward the yellow hammer with wooden handle on the black mat."} +{"subtask_index": 601, "subtask": "Right hand: grasp: Right hand contacts the wooden handle of the yellow hammer, adjusts fingers to form and stabilize the grasp."} +{"subtask_index": 602, "subtask": "Right hand: grasp: Right hand adjusts its grasp on the yellow hammer on the black mat, with fingers slightly tightening to stabilize the grip."} +{"subtask_index": 603, "subtask": "Right hand: lift: Right hand lifts the yellow hammer upward off the black supporting mat."} +{"subtask_index": 604, "subtask": "Right hand: transport: Right hand transports the yellow hammer leftward and upward to the position above the wooden peg board with green legs."} +{"subtask_index": 605, "subtask": "Right hand: press: Right hand holds the yellow hammer and presses downward to hit the red peg on the wooden toy for the first time."} +{"subtask_index": 606, "subtask": "Right hand: transport: Right hand holds the yellow hammer and moves upward away from the red peg on the wooden toy."} +{"subtask_index": 607, "subtask": "Right hand: press: Right hand holds the yellow hammer and presses downward to hit the red peg on the wooden toy for the second time."} +{"subtask_index": 608, "subtask": "Right hand: transport: Right hand holds the yellow hammer and moves upward after hitting the red peg on the wooden toy."} +{"subtask_index": 609, "subtask": "Right hand: transport: Right hand transports the held yellow hammer rightward above the black mat."} +{"subtask_index": 610, "subtask": "Right hand: place_release: Right hand places the yellow hammer onto the black mat and releases its grasp on the hammer."} +{"subtask_index": 611, "subtask": "Right hand: idle: Right hand remains empty at the upper right area of the workspace without moving."} +{"subtask_index": 612, "subtask": "Left hand: idle: Left hand remains empty at the left edge of the frame without moving. | Right hand: reach: Right hand enters from the top-right edge of the frame, moves empty downward toward the wooden handle of the yellow mallet placed on the black mat."} +{"subtask_index": 613, "subtask": "Left hand: idle: Left hand remains empty at the left edge of the frame without moving. | Right hand: grasp: Right hand contacts the wooden handle of the yellow mallet, fingers gradually close around the handle with minor adjustments to establish a stable grip."} +{"subtask_index": 614, "subtask": "Left hand: idle: Left hand remains empty at the left edge of the frame without moving. | Right hand: lift: Right hand holds the wooden handle of the yellow mallet, moves upward to lift the mallet until its wooden end fully leaves the black mat surface."} +{"subtask_index": 615, "subtask": "Left hand: idle: Left hand remains empty at the left edge of the frame without moving. | Right hand: transport: Right hand holds the lifted yellow mallet, moves it horizontally leftward toward the stacked wooden peg toy in the center of the mat."} +{"subtask_index": 616, "subtask": "Left hand: idle: Left hand remains empty at the left edge of the frame without moving. | Right hand: lift: Right hand firmly holds the wooden handle of the yellow mallet, lifts the mallet upward until the yellow mallet head is completely lifted off the black textured work surface."} +{"subtask_index": 617, "subtask": "Left hand: idle: Left hand remains empty at the left edge of the frame without moving. | Right hand: transport: Right hand carries the airborne yellow mallet, moves it leftward above the black work surface to the position directly over the center of the wooden peg bench, with minor wrist rotation and small finger adjustments along the handle to maintain a stable grip during movement."} +{"subtask_index": 618, "subtask": "Left hand: idle: Left hand remains empty at the left edge of the frame without moving. | Right hand: place: Right hand lowers the yellow mallet vertically downward, places the yellow mallet head onto the top surface of the wooden peg bench until the mallet head is stably supported by the bench."} +{"subtask_index": 619, "subtask": "Left hand: idle: Left hand remains empty at the left edge of the frame without moving. | Right hand: lift_transport: Right hand grips the wooden mallet, lifts its yellow head slightly off the wooden pegboard, and moves the mallet leftward to the area above the red peg."} +{"subtask_index": 620, "subtask": "Left hand: idle: Left hand remains empty at the left edge of the frame without moving. | Right hand: mate: Right hand holds the wooden mallet and makes fine positional adjustments to align the mallet head directly with the red peg on the pegboard."} +{"subtask_index": 621, "subtask": "Left hand: idle: Left hand remains empty at the left edge of the frame without moving. | Right hand: lift: Right hand holds the wooden handle of the yellow mallet, and lifts the mallet upward to move the yellow mallet head away from the surface of the wooden peg toy."} +{"subtask_index": 622, "subtask": "Left hand: idle: Left hand remains empty at the left edge of the frame without moving. | Right hand: transport: Right hand holds the yellow mallet, moves it along an upward-right then downward-right path through the air toward the right area of the black work mat."} +{"subtask_index": 623, "subtask": "Left hand: idle: Left hand remains empty at the left edge of the frame without moving. | Right hand: place_release: Right hand lowers the yellow mallet down to the right side of the black work mat, then opens its fingers to release the wooden handle, leaving the mallet resting stably on the mat surface."} +{"subtask_index": 624, "subtask": "Left hand: idle: Left hand remains empty at the left edge of the frame without moving. | Right hand: retreat: Right hand, now empty, moves upward and rightward away from the resting yellow mallet, toward the top-right corner of the frame."} +{"subtask_index": 625, "subtask": "Left hand: idle: Left hand remains empty at the left edge of the frame without moving. | Right hand: idle: Right hand remains empty and stationary at the top-right corner of the frame, with no contact with any objects."} +{"subtask_index": 626, "subtask": "Left hand: idle: Left hand remains empty and stationary at the far left edge of the frame. | Right hand: idle: Right hand remains empty and stationary at the upper right edge of the frame."} +{"subtask_index": 627, "subtask": "Left hand: idle: Left hand remains empty and stationary at the far left edge of the frame. | Right hand: reach: Right hand moves diagonally down-left toward the wooden handle of the yellow mallet while empty, approaching the handle surface."} +{"subtask_index": 628, "subtask": "Left hand: idle: Left hand remains empty and stationary at the far left edge of the frame. | Right hand: grasp: Right hand closes fingers around the wooden handle of the yellow mallet, adjusting finger positions to establish a grip on the handle."} +{"subtask_index": 629, "subtask": "Left hand: idle: Left hand remains empty and stationary at the far left edge of the frame. | Right hand: grasp: Right hand adjusts finger positions and closes fingers around the wooden handle of the yellow mallet resting on the black work surface to establish a stable grip."} +{"subtask_index": 630, "subtask": "Left hand: idle: Left hand remains empty and stationary at the far left edge of the frame. | Right hand: lift: Right hand moves upward to lift the grasped yellow mallet, raising the entire mallet completely off the black work surface."} +{"subtask_index": 631, "subtask": "Left hand: idle: Left hand remains empty and stationary at the far left edge of the frame. | Right hand: transport: Right hand moves the yellow mallet leftward toward the wooden peg board, slightly rotating the wrist to adjust the mallet's orientation during movement."} +{"subtask_index": 632, "subtask": "Left hand: idle: Left hand remains empty and stationary at the far left edge of the frame. | Right hand: place: Right hand lowers the yellow mallet downward, positioning the yellow mallet head between two green pegs on the wooden peg board until the mallet is stably supported."} +{"subtask_index": 633, "subtask": "Left hand: idle: Left hand remains empty and stationary at the far left edge of the frame. | Right hand: grasp: Right hand makes slight finger adjustments around the wooden handle of the mallet to stabilize its grip."} +{"subtask_index": 634, "subtask": "Left hand: idle: Left hand remains empty and stationary at the far left edge of the frame. | Right hand: press: Right hand applies pressure to the mallet handle, pressing the green peg through the hole in the wooden perforated board."} +{"subtask_index": 635, "subtask": "Left hand: idle: Left hand remains empty and stationary at the far left edge of the frame. | Right hand: hold: Right hand holds the wooden mallet inserted in the wooden toy without any visible movement of the hand or the mallet."} +{"subtask_index": 636, "subtask": "Left hand: idle: Left hand remains empty and stationary at the far left edge of the frame. | Right hand: grasp: Right hand adjusts its grip on the wooden mallet handle with slight finger movements, slightly rotating the mallet while it remains inserted in the wooden toy."} +{"subtask_index": 637, "subtask": "Left hand: idle: Left hand remains empty and stationary at the far left edge of the frame. | Right hand: lift: Right hand lifts the wooden mallet upward until it is completely detached from the wooden toy on the black work surface."} +{"subtask_index": 638, "subtask": "Left hand: idle: Left hand remains empty and stationary at the far left edge of the frame. | Right hand: transport: Right hand carries the lifted wooden mallet down and toward the right side of the black work surface."} +{"subtask_index": 639, "subtask": "Left hand: idle: Left hand remains empty and stationary at the far left edge of the frame. | Right hand: place_release: Right hand places the wooden mallet onto the black work surface and releases its grip on the mallet handle."} +{"subtask_index": 640, "subtask": "Left hand: idle: Left hand remains empty and stationary at the far left edge of the frame."} +{"subtask_index": 641, "subtask": "Right hand: reach: Right hand moves leftward and downward toward the yellow hammer on the right side of the wooden toy on the black mat."} +{"subtask_index": 642, "subtask": "Right hand: grasp: Right hand contacts the hammer and adjusts fingers to grip the wooden handle of the hammer to form a stable grasp."} +{"subtask_index": 643, "subtask": "Right hand: lift: Right hand lifts the hammer upward away from the black mat."} +{"subtask_index": 644, "subtask": "Right hand: transport: Right hand transports the yellow hammer leftward toward the small wooden table with green legs."} +{"subtask_index": 645, "subtask": "Right hand: grasp: Right hand adjusts fingers to form a stable grip on the wooden handle of the yellow hammer."} +{"subtask_index": 646, "subtask": "Right hand: lift: Right hand lifts the yellow hammer upward away from the wooden peg board."} +{"subtask_index": 647, "subtask": "Right hand: transport: Right hand moves the yellow hammer downward toward the red peg on the wooden peg board."} +{"subtask_index": 648, "subtask": "Right hand: press: Right hand strikes the red peg with the yellow hammer to press it into the wooden board."} +{"subtask_index": 649, "subtask": "Right hand: lift: Right hand lifts the yellow hammer upward away from the red peg on the wooden board."} +{"subtask_index": 650, "subtask": "Right hand: transport: Right hand moves the yellow hammer downward toward the red peg for the second strike."} +{"subtask_index": 651, "subtask": "Right hand: press: Right hand strikes the red peg with the yellow hammer a second time to press it deeper."} +{"subtask_index": 652, "subtask": "Right hand: lift: Right hand lifts the yellow hammer upward away from the red peg again."} +{"subtask_index": 653, "subtask": "Right hand: transport: Right hand moves the yellow hammer downward toward the red peg for the third strike."} +{"subtask_index": 654, "subtask": "Right hand: press: Right hand strikes the red peg with the yellow hammer a third time to press it further into the board."} +{"subtask_index": 655, "subtask": "Right hand: transport: Right hand transports the yellow hammer with wooden handle rightward above the black working surface."} +{"subtask_index": 656, "subtask": "Right hand: place: Right hand places the yellow hammer onto the right side of the black working surface."} +{"subtask_index": 657, "subtask": "Right hand: release: Right hand releases the yellow hammer, fingers open to separate from the hammer handle."} +{"subtask_index": 658, "subtask": "Right hand: reach: Right hand moves from the top right of the frame toward the yellow hammer placed on the black mat."} +{"subtask_index": 659, "subtask": "Right hand: grasp: Right hand closes and adjusts its fingers to form a stable grip on the wooden handle of the yellow hammer."} +{"subtask_index": 660, "subtask": "Right hand: hold: Right hand holds the yellow hammer by its wooden handle without observable movement."} +{"subtask_index": 661, "subtask": "Right hand: grasp: Right hand adjusts its grip on the wooden handle of the yellow hammer resting on the black mat."} +{"subtask_index": 662, "subtask": "Right hand: transport: Right hand carries the yellow hammer and moves left towards the wooden perforated board."} +{"subtask_index": 663, "subtask": "Right hand: reorient: Right hand adjusts the orientation of the yellow hammer to align with the green peg on the wooden board."} +{"subtask_index": 664, "subtask": "Right hand: other:hit: Right hand moves the yellow hammer downward to hit the green peg on the wooden board."} +{"subtask_index": 665, "subtask": "Right hand: transport: Right hand transports the yellow hammer upward away from the wooden board."} +{"subtask_index": 666, "subtask": "Right hand: lift_transport: Right hand holds the yellow hammer, lifts it upward and moves it to the position above the red peg on the wooden base."} +{"subtask_index": 667, "subtask": "Right hand: press: Right hand moves the yellow hammer downward to hit and apply pressure on the red peg on the wooden base."} +{"subtask_index": 668, "subtask": "Right hand: lift_transport: Right hand holds the yellow hammer, lifts it upward again and moves it to the position above the red peg on the wooden base."} +{"subtask_index": 669, "subtask": "Right hand: press: Right hand moves the yellow hammer downward to hit and apply pressure on the red peg on the wooden base again."} +{"subtask_index": 670, "subtask": "Right hand: transport: Right hand transports the yellow hammer rightward away from the wooden peg base."} +{"subtask_index": 671, "subtask": "Right hand: place_release: Right hand places the yellow hammer onto the right area of the black mat and releases the grip."} +{"subtask_index": 672, "subtask": "Right hand: idle: Right hand remains empty at the right side of the workspace without moving."} +{"subtask_index": 673, "subtask": "Left hand: idle: Left hand remains empty, stationary, and out of view throughout the segment without contacting any objects. | Right hand: reach: Right hand moves downward and leftward from the upper right edge of the frame toward the wooden handle of the yellow hammer, remaining empty as it approaches the target."} +{"subtask_index": 674, "subtask": "Left hand: idle: Left hand remains empty, stationary, and out of view throughout the segment without contacting any objects. | Right hand: grasp: Right hand makes contact with the wooden handle of the yellow hammer, adjusts finger positioning, and closes fingers around the handle to form a grip, while the hammer remains resting on the black work surface."} +{"subtask_index": 675, "subtask": "Left hand: idle: Left hand remains empty, stationary, and out of view throughout the segment without contacting any objects. | Right hand: hold: Right hand maintains a stable grip on the wooden handle of the yellow hammer without any visible movement of the hand, fingers, or hammer, as the hammer rests fully on the black work surface."} +{"subtask_index": 676, "subtask": "Left hand: idle: Left hand remains empty, stationary, and out of view throughout the segment without contacting any objects. | Right hand: lift: Right hand grips the wooden handle of the yellow hammer and moves to lift the hammer upward, causing the hammer head to rise off the black work surface while the distal end of the handle remains near the surface."} +{"subtask_index": 677, "subtask": "Left hand: idle: Left hand remains empty, stationary, and out of view throughout the segment without contacting any objects. | Right hand: lift: Right hand maintains a firm grip on the wooden mallet with a yellow head, lifting it upward until the entire mallet is fully raised off the black fabric work surface."} +{"subtask_index": 678, "subtask": "Left hand: idle: Left hand remains empty, stationary, and out of view throughout the segment without contacting any objects. | Right hand: transport: Right hand carries the grasped wooden mallet leftward and slightly downward, moving it across the space toward the small wooden peg toy positioned in the center of the work surface."} +{"subtask_index": 679, "subtask": "Left hand: idle: Left hand remains empty, stationary, and out of view throughout the segment without contacting any objects. | Right hand: hold: Right hand holds the wooden mallet completely stationary, with the yellow mallet head positioned directly over the red peg on the central wooden toy, with no visible movement of the hand or mallet."} +{"subtask_index": 680, "subtask": "Left hand: idle: Left hand remains empty, stationary, and out of view throughout the segment without contacting any objects. | Right hand: grasp: Right hand adjusts its fingers around the wooden mallet handle to stabilize grip, shifting the mallet slightly downward along the central wooden peg on the holed wooden platform."} +{"subtask_index": 681, "subtask": "Left hand: idle: Left hand remains empty, stationary, and out of view throughout the segment without contacting any objects. | Right hand: hold: Right hand maintains a stable grip on the wooden mallet handle, with no observable movement of the hand, fingers, or the mallet itself."} +{"subtask_index": 682, "subtask": "Left hand: idle: Left hand remains empty, stationary, and out of view throughout the segment without contacting any objects. | Right hand: transport: Right hand holds the mallet handle and moves the wooden mallet slightly upward along the central wooden peg."} +{"subtask_index": 683, "subtask": "Left hand: idle: Left hand remains empty, stationary, and out of view throughout the segment without contacting any objects. | Right hand: lift: Right hand grips the wooden mallet and lifts it upward off the red peg on the wooden platform."} +{"subtask_index": 684, "subtask": "Left hand: idle: Left hand remains empty, stationary, and out of view throughout the segment without contacting any objects. | Right hand: transport: Right hand carries the gripped wooden mallet and moves it horizontally rightward to the position above the black mat to the right of the wooden platform."} +{"subtask_index": 685, "subtask": "Left hand: idle: Left hand remains empty, stationary, and out of view throughout the segment without contacting any objects. | Right hand: place_release: Right hand lowers the wooden mallet to rest on the black mat and opens fingers to release contact with the mallet."} +{"subtask_index": 686, "subtask": "Left hand: idle: Left hand remains empty, stationary, and out of view throughout the segment without contacting any objects. | Right hand: retreat: Right hand moves empty upward away from the released mallet resting on the black mat."} +{"subtask_index": 687, "subtask": "Left hand: idle: Left hand remains empty, stationary, and out of view throughout the segment without contacting any objects. | Right hand: retreat: Right hand moves upward and toward the top right direction without holding any object, pulling away from the yellow wooden mallet until it exits the top right edge of the frame."} +{"subtask_index": 688, "subtask": "Left hand: idle: Left hand remains empty, stationary, and out of view throughout the segment without contacting any objects."} +{"subtask_index": 689, "subtask": "Right hand: reach: Right hand moves from the right edge of the frame towards the yellow hammer placed on the black mat next to the wooden pegboard."} +{"subtask_index": 690, "subtask": "Right hand: grasp: Right hand touches the wooden handle of the yellow hammer and adjusts fingers to form a stable grasp."} +{"subtask_index": 691, "subtask": "Right hand: lift: Right hand lifts the yellow hammer upward, making it completely leave the black mat surface."} +{"subtask_index": 692, "subtask": "Right hand: transport: Right hand transports the yellow hammer leftward with slight rotation, moving towards the wooden toy with green legs."} +{"subtask_index": 693, "subtask": "Right hand: release: Right hand releases the yellow hammer, placing it adjacent to the wooden toy on the black mat."} +{"subtask_index": 694, "subtask": "Right hand: reach: Right hand enters from the top of the frame and moves downward toward the yellow hammer on the wooden peg bench."} +{"subtask_index": 695, "subtask": "Right hand: grasp_lift: Right hand grasps the yellow hammer head and lifts the hammer upward away from the wooden peg bench."} +{"subtask_index": 696, "subtask": "Right hand: transport: Right hand carries the yellow hammer and moves it horizontally to the right side of the black mat."} +{"subtask_index": 697, "subtask": "Right hand: reach: Right hand enters from the top-right edge of the frame, moves down and left toward the wooden handle of the yellow mallet resting on the black work surface, with fingers extended and not yet touching the mallet."} +{"subtask_index": 698, "subtask": "Right hand: grasp: Right hand closes fingers around the wooden handle of the yellow mallet, making small finger position adjustments to form a stable grip, while the mallet remains resting on the black work surface."} +{"subtask_index": 699, "subtask": "Right hand: lift: Right hand lifts the grasped yellow mallet upward, raising the entire mallet completely off the black work surface."} +{"subtask_index": 700, "subtask": "Right hand: transport: Right hand carries the lifted yellow mallet down and left toward the wooden peg platform, rotating the wrist slightly to orient the yellow mallet head downward."} +{"subtask_index": 701, "subtask": "Right hand: mate: Right hand aligns the yellow mallet head with the red peg on the wooden platform, moving the mallet head into contact with the top of the red peg."} +{"subtask_index": 702, "subtask": "Right hand: press: Right hand grips the wooden mallet, moves straight downward to apply vertical pressure on the green peg, pressing the peg into the holed wooden board."} +{"subtask_index": 703, "subtask": "Right hand: lift_transport: Right hand grips the wooden mallet, lifts its lower handle end off the black work surface, and moves the mallet horizontally leftward toward the red peg on the wooden toy base."} +{"subtask_index": 704, "subtask": "Right hand: reorient: Right hand holds the wooden mallet in a largely fixed horizontal position, rotating it slightly to align its yellow head directly over the red peg on the wooden toy base."} +{"subtask_index": 705, "subtask": "Right hand: lift_transport: Right hand grips the wooden mallet, lifts it from the wooden peg board, and moves it horizontally rightward above the black work surface."} +{"subtask_index": 706, "subtask": "Right hand: place_release: Right hand lowers the wooden mallet to the right area of the black work surface, fingers opening to release the mallet as it settles on the surface."} +{"subtask_index": 707, "subtask": "Right hand: idle: Right hand remains empty above the placed mallet with no observable movement."} +{"subtask_index": 708, "subtask": "Right hand: reach_grasp: Right hand enters from the right edge of the frame, moves left toward the yellow wooden mallet, with fingers touching the yellow head of the mallet."} +{"subtask_index": 709, "subtask": "Right hand: reach: Right hand moves downward from the top-right edge of the frame toward the wooden handle of the yellow mallet, making no contact with the mallet during this movement."} +{"subtask_index": 710, "subtask": "Right hand: grasp: Right hand contacts the wooden handle of the yellow mallet, fingers gradually close around the handle with minor positional adjustments to establish a grip, while the mallet head remains resting on the black fabric surface."} +{"subtask_index": 711, "subtask": "Right hand: grasp: Right hand adjusts its fingers around the wooden handle of the yellow mallet to establish a stable grasp, with the mallet resting on the black table surface."} +{"subtask_index": 712, "subtask": "Right hand: lift: Right hand lifts the grasped yellow mallet upward until the entire mallet is fully raised off the black table surface."} +{"subtask_index": 713, "subtask": "Right hand: transport: Right hand carries the lifted yellow mallet leftward to move it to the area in front of the wooden pegboard."} +{"subtask_index": 714, "subtask": "Right hand: hold: Right hand holds the yellow mallet stationary in front of the wooden pegboard with no visible movement of the hand or mallet."} +{"subtask_index": 715, "subtask": "Right hand: place: Right hand tilts the yellow mallet and lowers its wooden handle end onto the black table surface beside the pegboard, until the handle is supported by the table."} +{"subtask_index": 716, "subtask": "Right hand: grasp: Right hand makes slight continuous adjustments to its grip on the light wooden handle of the yellow mallet, repositioning its thumb and fingers along the handle to secure a stable hold."} +{"subtask_index": 717, "subtask": "Right hand: transport: Right hand carries the firmly gripped yellow mallet upward to position the mallet head directly above the red peg on the wooden peg board."} +{"subtask_index": 718, "subtask": "Right hand: press: Right hand applies downward vertical pressure on the yellow mallet to tap the red peg set in the wooden peg board."} +{"subtask_index": 719, "subtask": "Right hand: grasp: Right hand adjusts its fingers around the wooden handle of the yellow mallet to form a stable grip."} +{"subtask_index": 720, "subtask": "Right hand: lift: Right hand lifts the yellow mallet upward off the wooden toy base while maintaining grip on its wooden handle."} +{"subtask_index": 721, "subtask": "Right hand: transport: Right hand carries the yellow mallet rightward and downward through the air toward the black work surface."} +{"subtask_index": 722, "subtask": "Right hand: place_release: Right hand lowers the yellow mallet onto the black work surface until it rests stably, opening fingers to release grip on the wooden handle."} +{"subtask_index": 723, "subtask": "Right hand: retreat: Right hand moves empty upward and rightward away from the resting yellow mallet."} +{"subtask_index": 724, "subtask": "Right hand: reach: Right hand enters from the top right of the frame, moves down and left with an empty hand toward the wooden handle of the yellow mallet, without touching the mallet."} +{"subtask_index": 725, "subtask": "Right hand: grasp: Right hand makes contact with the wooden handle of the yellow mallet, fingers close around the handle and make small adjustments to form a stable grip, while the mallet remains stationary on the black work surface."} +{"subtask_index": 726, "subtask": "Right hand: lift: Right hand grips the wooden handle of the yellow mallet and lifts the mallet upward until the entire mallet is fully raised off the black work surface."} +{"subtask_index": 727, "subtask": "Right hand: transport: Right hand holds the yellow mallet and moves it leftward and downward from the right side of the frame to the position above the red peg on the wooden peg toy, making slight grip adjustments on the wooden handle during movement."} +{"subtask_index": 728, "subtask": "Right hand: place: Right hand lowers the grasped yellow mallet vertically to place its yellow head onto the surface of the wooden peg toy directly over the red peg."} +{"subtask_index": 729, "subtask": "Right hand: press: Right hand grips the handle of the wooden mallet and presses downward to drive the mallet head against the peg on the wooden peg toy."} +{"subtask_index": 730, "subtask": "Right hand: transport: Right hand holds the mallet handle and moves upward, carrying the mallet back toward its initial position."} +{"subtask_index": 731, "subtask": "Right hand: grasp: Right hand adjusts its finger positions slightly on the wooden mallet handle to form a stable grip, with no observable movement of the mallet itself."} +{"subtask_index": 732, "subtask": "Right hand: mate: Right hand shifts the grasped wooden mallet by small increments to align the yellow mallet head directly over the red peg on the wooden base."} +{"subtask_index": 733, "subtask": "Right hand: transport: Right hand maintains a firm grip on the wooden mallet, moving it rightward and slightly downward through the air above the black textured mat, away from the wooden peg toy."} +{"subtask_index": 734, "subtask": "Right hand: place_release: Right hand lowers the mallet toward the black mat surface, opens fingers to release grip, allowing the mallet to fall and rest stationary on the mat."} +{"subtask_index": 735, "subtask": "Left hand: idle: Left hand remains empty and stationary at the far left edge of the frame without observable movement. | Right hand: reach: Right hand starts empty at the top-right edge of the frame and moves downward toward the wooden mallet with an open hand."} +{"subtask_index": 736, "subtask": "Left hand: idle: Left hand remains empty and stationary at the far left edge of the frame without observable movement. | Right hand: grasp: Right hand positions fingers around the wooden handle of the mallet, closing and adjusting finger positions to form a stable grip while the mallet rests on the black supporting surface."} +{"subtask_index": 737, "subtask": "Left hand: idle: Left hand remains empty and stationary at the far left edge of the frame without observable movement. | Right hand: lift: Right hand lifts the wooden mallet slightly upward from the supporting surface while maintaining a stable grip on the wooden handle."} +{"subtask_index": 738, "subtask": "Left hand: idle: Left hand remains empty and stationary at the far left edge of the frame without observable movement. | Right hand: hold: Right hand holds the wooden mallet handle on the black work surface without observable movement."} +{"subtask_index": 739, "subtask": "Left hand: idle: Left hand remains empty and stationary at the far left edge of the frame without observable movement. | Right hand: reorient: Right hand holds the wooden mallet handle, rotates the mallet about a quarter turn along an arcing path to position the yellow mallet head above the green peg on the wooden peg toy."} +{"subtask_index": 740, "subtask": "Left hand: idle: Left hand remains empty and stationary at the far left edge of the frame without observable movement. | Right hand: hold: Right hand holds the wooden mallet steady with the yellow head positioned above the green peg, without observable movement."} +{"subtask_index": 741, "subtask": "Left hand: idle: Left hand remains empty and stationary at the far left edge of the frame without observable movement. | Right hand: press: Right hand holds the wooden mallet handle and rotates the mallet slightly counter-clockwise to move its yellow head downward, applying vertical pressure on the red wooden peg in the wooden base."} +{"subtask_index": 742, "subtask": "Left hand: idle: Left hand remains empty and stationary at the far left edge of the frame without observable movement. | Right hand: reorient: Right hand holds the wooden mallet handle and rotates the mallet slightly clockwise to return it to the vertical upright position, with the mallet head staying in the wooden base hole."} +{"subtask_index": 743, "subtask": "Left hand: idle: Left hand remains empty and stationary at the far left edge of the frame without observable movement. | Right hand: hold: Right hand maintains a stable grip on the vertical wooden mallet handle, with no observable movement of the hand, fingers or the mallet."} +{"subtask_index": 744, "subtask": "Left hand: idle: Left hand remains empty and stationary at the far left edge of the frame without observable movement. | Right hand: press: Right hand holds the wooden mallet handle and rotates the mallet slightly counter-clockwise to move its yellow head downward, applying vertical pressure on the red wooden peg until the peg protrudes from the base surface."} +{"subtask_index": 745, "subtask": "Left hand: idle: Left hand remains empty and stationary at the far left edge of the frame without observable movement. | Right hand: reorient: Right hand holds the wooden mallet, rotates it about a quarter turn to face the yellow mallet head leftward, moves it to the right side of the wooden peg toy, and lowers it onto the black supporting surface."} +{"subtask_index": 746, "subtask": "Left hand: idle: Left hand remains empty and stationary at the far left edge of the frame without observable movement. | Right hand: retreat: Right hand moves empty in the upward-right direction, retreating away from the wooden mallet placed on the supporting surface."} +{"subtask_index": 747, "subtask": "Left hand: idle: Left hand remains empty and stationary at the far left edge of the frame without observable movement."} +{"subtask_index": 748, "subtask": "Right hand: reach: Right hand moves downward from the top right of the frame towards the yellow hammer with wooden handle on the black mat."} +{"subtask_index": 749, "subtask": "Right hand: grasp: Right hand adjusts its fingers to grasp the wooden handle of the yellow hammer."} +{"subtask_index": 750, "subtask": "Right hand: transport: Right hand holds the yellow hammer and moves it leftward towards the wooden toy rack."} +{"subtask_index": 751, "subtask": "Right hand: mate: Right hand adjusts the position of the yellow hammer to align the hammer head with the pegs on the wooden toy rack."} +{"subtask_index": 752, "subtask": "Right hand: hold: Right hand holds the wooden handle of the yellow hammer without moving."} +{"subtask_index": 753, "subtask": "Right hand: transport: Right hand carries the yellow hammer and moves upward."} +{"subtask_index": 754, "subtask": "Right hand: transport: Right hand carries the yellow hammer and moves downward toward the red peg."} +{"subtask_index": 755, "subtask": "Right hand: press: Right hand presses the yellow hammer head against the red peg."} +{"subtask_index": 756, "subtask": "Right hand: transport: Right hand carries the yellow hammer and moves upward again."} +{"subtask_index": 757, "subtask": "Right hand: transport: Right hand carries the yellow hammer and moves upward slightly."} +{"subtask_index": 758, "subtask": "Right hand: transport: Right hand holds the yellow hammer and moves it rightward."} +{"subtask_index": 759, "subtask": "Right hand: place_release: Right hand places the yellow hammer onto the black table surface and releases it."} +{"subtask_index": 760, "subtask": "Right hand: retreat: Right hand moves empty toward the top right corner of the frame."} +{"subtask_index": 761, "subtask": "Right hand: reach: Right hand enters from the top right of the frame and moves downward toward the yellow hammer on the black mat."} +{"subtask_index": 762, "subtask": "Right hand: grasp: Right hand contacts the wooden handle of the yellow hammer, adjusts fingers and hand position to establish a stable grasp."} +{"subtask_index": 763, "subtask": "Right hand: grasp: Right hand adjusts fingers to form a stable grasp on the wooden handle of the yellow hammer placed on the black mat."} +{"subtask_index": 764, "subtask": "Right hand: lift: Right hand lifts the yellow hammer upward, making it completely leave the black supporting mat."} +{"subtask_index": 765, "subtask": "Right hand: transport: Right hand transports the yellow hammer leftward and slightly downward to the position above the wooden perforated plate with green pegs."} +{"subtask_index": 766, "subtask": "Right hand: press: Right hand holds the hammer and moves downward to press the red peg on the wooden base."} +{"subtask_index": 767, "subtask": "Right hand: hold_lift: Right hand holds the hammer static on top of the red peg, then lifts it slightly upward."} +{"subtask_index": 768, "subtask": "Right hand: transport: Right hand transports the wooden hammer slightly horizontally above the perforated wooden base with green supporting pegs."} +{"subtask_index": 769, "subtask": "Right hand: other:repeatedly_press_downward: Right hand holds the wooden hammer and moves it downward repeatedly to press the small red pegs on the wooden base."} +{"subtask_index": 770, "subtask": "Right hand: lift: Right hand lifts the hammer from the wooden base with green legs."} +{"subtask_index": 771, "subtask": "Right hand: transport: Right hand transports the hammer rightward above the black table surface."} +{"subtask_index": 772, "subtask": "Right hand: place_release: Right hand places the hammer onto the black table surface and releases the grip."} +{"subtask_index": 773, "subtask": "Right hand: reach: Right hand moves leftward from the right edge of the frame towards the yellow hammer with a wooden handle on the black mat."} +{"subtask_index": 774, "subtask": "Right hand: grasp: Right hand touches the wooden handle of the yellow hammer, adjusts fingers to establish a stable grasp."} +{"subtask_index": 775, "subtask": "Right hand: grasp: Right hand adjusts its fingers to grasp the wooden handle of the yellow hammer on the black tabletop to form a stable grip."} +{"subtask_index": 776, "subtask": "Right hand: lift: Right hand lifts the yellow hammer upward until it completely leaves the black tabletop."} +{"subtask_index": 777, "subtask": "Right hand: transport: Right hand carries the lifted yellow hammer leftward toward the wooden peg toy on the table."} +{"subtask_index": 778, "subtask": "Right hand: hold: Right hand holds the yellow hammer still with its yellow head resting on the green peg."} +{"subtask_index": 779, "subtask": "Right hand: lift_transport: Right hand lifts the yellow hammer off the green peg and transports it upward."} +{"subtask_index": 780, "subtask": "Right hand: press: Right hand moves the yellow hammer downward to press its head against the green peg."} +{"subtask_index": 781, "subtask": "Right hand: transport: Right hand transports the yellow hammer slightly upward away from the green peg."} +{"subtask_index": 782, "subtask": "Right hand: transport: Right hand transports the yellow hammer rightward above the black mat."} +{"subtask_index": 783, "subtask": "Right hand: place_release: Right hand places the yellow hammer onto the black mat and releases its grasp."} +{"subtask_index": 784, "subtask": "Right hand: retreat: Right hand retreats away from the yellow hammer on the black mat."} +{"subtask_index": 785, "subtask": "Left hand: idle: Left hand remains partially visible at the left edge of the frame, empty and stationary with no observable movement throughout the segment. | Right hand: idle: Right hand stays empty at the top-right edge of the frame without any visible movement."} +{"subtask_index": 786, "subtask": "Left hand: idle: Left hand remains partially visible at the left edge of the frame, empty and stationary with no observable movement throughout the segment. | Right hand: reach: Right hand moves downward from the top-right edge toward the wooden mallet on the black work surface, with fingers slightly open, not yet contacting the mallet handle."} +{"subtask_index": 787, "subtask": "Left hand: idle: Left hand remains partially visible at the left edge of the frame, empty and stationary with no observable movement throughout the segment. | Right hand: grasp: Right hand makes contact with the wooden mallet handle, fingers close gradually and adjust position to form a stable grip on the handle, with the mallet remaining fully supported on the work surface."} +{"subtask_index": 788, "subtask": "Left hand: idle: Left hand remains partially visible at the left edge of the frame, empty and stationary with no observable movement throughout the segment. | Right hand: lift: Right hand holds the wooden mallet handle and lifts the mallet upward, raising the yellow mallet head off the work surface while the lower end of the wooden handle stays in contact with the surface."} +{"subtask_index": 789, "subtask": "Left hand: idle: Left hand remains partially visible at the left edge of the frame, empty and stationary with no observable movement throughout the segment. | Right hand: lift: Right hand holds the wooden mallet handle and lifts the mallet upward, raising the mallet fully off the black textured work mat."} +{"subtask_index": 790, "subtask": "Left hand: idle: Left hand remains partially visible at the left edge of the frame, empty and stationary with no observable movement throughout the segment. | Right hand: transport: Right hand carries the lifted wooden mallet leftward and slightly downward, rotating the mallet about a quarter turn to orient the yellow hammerhead vertically downward toward the central peg board."} +{"subtask_index": 791, "subtask": "Left hand: idle: Left hand remains partially visible at the left edge of the frame, empty and stationary with no observable movement throughout the segment. | Right hand: place: Right hand moves the wooden mallet further downward to set the yellow hammerhead onto the red peg on the wooden peg board."} +{"subtask_index": 792, "subtask": "Left hand: idle: Left hand remains partially visible at the left edge of the frame, empty and stationary with no observable movement throughout the segment. | Right hand: hold: Right hand holds the wooden mallet steady with the yellow hammerhead resting on the red peg, without visible movement of the hand or mallet."} +{"subtask_index": 793, "subtask": "Left hand: idle: Left hand remains partially visible at the left edge of the frame, empty and stationary with no observable movement throughout the segment. | Right hand: grasp: Right hand adjusts the positions of its curled fingers along the wooden mallet handle, tightening contact to form a stable grip on the mallet, with negligible movement of the mallet itself."} +{"subtask_index": 794, "subtask": "Left hand: idle: Left hand remains partially visible at the left edge of the frame, empty and stationary with no observable movement throughout the segment. | Right hand: other:repeated_small_striking: Right hand holds the wooden mallet with a stable grip, performing repeated small vertical downward striking motions against the peg on the perforated wooden board to apply downward pressure."} +{"subtask_index": 795, "subtask": "Left hand: idle: Left hand remains partially visible at the left edge of the frame, empty and stationary with no observable movement throughout the segment. | Right hand: transport_release: Right hand holds the wooden mallet, moves it horizontally rightward to the area above the right side of the black platform, opens its fingers to release the mallet to fall toward the platform surface."} +{"subtask_index": 796, "subtask": "Left hand: idle: Left hand remains partially visible at the left edge of the frame, empty and stationary with no observable movement throughout the segment. | Right hand: retreat: Right hand remains empty and moves upward and rightward away from the resting position of the wooden mallet."} +{"subtask_index": 797, "subtask": "Left hand: idle: Left hand remains partially visible at the left edge of the frame, empty and stationary with no observable movement throughout the segment. | Right hand: idle: Right hand stays empty at the top-right corner of the visible frame without observable movement."} +{"subtask_index": 798, "subtask": "Left hand: idle: Left hand remains partially visible at the left edge of the frame, empty and stationary with no observable movement throughout the segment. | Right hand: reach: Right hand enters the frame from the top-right edge, moving toward the central work area as an empty open hand without contacting any objects."} +{"subtask_index": 799, "subtask": "Left hand: idle: Left hand remains partially visible at the left edge of the frame, empty and stationary with no observable movement throughout the segment."} +{"subtask_index": 800, "subtask": "Left hand: idle: Left hand remains empty at the left periphery of the visible workspace without any observable movement. | Right hand: idle: Right hand remains empty, staying stationary at the top-right periphery of the visible workspace without moving."} +{"subtask_index": 801, "subtask": "Left hand: idle: Left hand remains empty at the left periphery of the visible workspace without any observable movement. | Right hand: reach: Right hand moves downward from the top-right periphery toward the wooden handle of the yellow mallet on the right side of the workspace, with fingers slightly open as it approaches the target."} +{"subtask_index": 802, "subtask": "Left hand: idle: Left hand remains empty at the left periphery of the visible workspace without any observable movement. | Right hand: grasp: Right hand closes its fingers around the wooden mallet handle and makes fine adjustments to its grip on the handle resting on the black textured work surface."} +{"subtask_index": 803, "subtask": "Left hand: idle: Left hand remains empty at the left periphery of the visible workspace without any observable movement. | Right hand: grasp: Right hand adjusts and tightens its fingers around the wooden handle of the yellow mallet resting on the black mat to establish a stable grip."} +{"subtask_index": 804, "subtask": "Left hand: idle: Left hand remains empty at the left periphery of the visible workspace without any observable movement. | Right hand: lift: Right hand lifts the gripped yellow mallet upward from the black mat until the mallet is completely raised off the supporting surface."} +{"subtask_index": 805, "subtask": "Left hand: idle: Left hand remains empty at the left periphery of the visible workspace without any observable movement. | Right hand: transport: Right hand carries the suspended yellow mallet leftward through the air toward the central wooden peg board."} +{"subtask_index": 806, "subtask": "Left hand: idle: Left hand remains empty at the left periphery of the visible workspace without any observable movement. | Right hand: place: Right hand lowers the yellow mallet downward until the mallet head rests on the red peg atop the wooden peg board."} +{"subtask_index": 807, "subtask": "Left hand: idle: Left hand remains empty at the left periphery of the visible workspace without any observable movement."} +{"subtask_index": 808, "subtask": "Left hand: idle: Left hand remains empty at the left periphery of the visible workspace without any observable movement. | Right hand: grasp: Right hand adjusts finger positions around the wooden handle of the yellow mallet to form a stable grip."} +{"subtask_index": 809, "subtask": "Left hand: idle: Left hand remains empty at the left periphery of the visible workspace without any observable movement. | Right hand: press: Right hand moves the yellow mallet downward to apply downward force on the green peg, pressing it into the wooden pegboard."} +{"subtask_index": 810, "subtask": "Left hand: idle: Left hand remains empty at the left periphery of the visible workspace without any observable movement. | Right hand: transport: Right hand moves the yellow mallet upward to a resting position on top of the green peg while maintaining grip on the wooden handle."} +{"subtask_index": 811, "subtask": "Left hand: idle: Left hand remains empty at the left periphery of the visible workspace without any observable movement. | Right hand: hold: Right hand holds the yellow mallet stationary against the top of the green peg on the wooden pegboard with no observed movement."} +{"subtask_index": 812, "subtask": "Left hand: idle: Left hand remains empty at the left periphery of the visible workspace without any observable movement. | Right hand: lift: Right hand holds the yellow-headed wooden mallet and lifts it upward to fully separate the mallet from the wooden toy structure with green pegs."} +{"subtask_index": 813, "subtask": "Left hand: idle: Left hand remains empty at the left periphery of the visible workspace without any observable movement. | Right hand: transport: Right hand carries the fully separated yellow-headed wooden mallet and moves it upward and rightward away from the wooden toy structure."} +{"subtask_index": 814, "subtask": "Right hand: reach: Right hand moves downward from the top right of the frame toward the yellow-headed wooden hammer on the black textured mat, with fingers open and no contact with the hammer."} +{"subtask_index": 815, "subtask": "Right hand: grasp: Right hand contacts the wooden handle of the yellow-headed hammer, closing fingers and adjusting grip position along the handle to form a stable grasp."} +{"subtask_index": 816, "subtask": "Right hand: hold: Right hand holds the wooden handle of the yellow-headed hammer on the black textured mat without any observable movement of the hand or the hammer."} +{"subtask_index": 817, "subtask": "Right hand: lift: Right hand lifts the yellow-headed wooden hammer upward, raising the hammer head off the black textured mat."} +{"subtask_index": 818, "subtask": "Right hand: lift: Right hand lifts the yellow hammer upward from the black textured table surface."} +{"subtask_index": 819, "subtask": "Right hand: transport: Right hand transports the yellow hammer leftward and upward while slightly rotating it, moving it to the position above the green peg on the wooden pegboard toy."} +{"subtask_index": 820, "subtask": "Right hand: transport_press: Right hand transports the yellow hammer downward and presses its yellow head against the wooden board."} +{"subtask_index": 821, "subtask": "Right hand: lift_transport: Right hand lifts the yellow hammer from the wooden board and transports it upward."} +{"subtask_index": 822, "subtask": "Right hand: transport: Right hand transports the yellow hammer downward."} +{"subtask_index": 823, "subtask": "Right hand: lift_transport: Right hand lifts the yellow hammer with a wooden handle away from the peg toy and transports it rightward in the air above the black textured surface."} +{"subtask_index": 824, "subtask": "Right hand: place_release: Right hand places the yellow hammer onto the black textured surface and releases its grip on the wooden handle."} +{"subtask_index": 825, "subtask": "Right hand: retreat: Right hand retreats rightward and upward away from the yellow hammer."} +{"subtask_index": 826, "subtask": "Right hand: grasp_lift: Right hand grasps the yellow head of the wooden hammer and lifts the hammer head slightly upward, with the distal end of the handle still in contact with the black textured mat."} +{"subtask_index": 827, "subtask": "Right hand: reach: Right hand enters from the top-right of the frame, moves downward with spread fingers toward the wooden handle of the yellow hammer placed on the black work mat."} +{"subtask_index": 828, "subtask": "Right hand: grasp: Right hand makes contact with the wooden hammer handle, fingers gradually close and adjust positions to form a stable grip around the handle, with the hammer remaining on the black mat."} +{"subtask_index": 829, "subtask": "Right hand: lift: Right hand grips the hammer handle and moves upward, lifting the hammer completely off the black work mat."} +{"subtask_index": 830, "subtask": "Right hand: transport: Right hand holds the lifted hammer and moves it leftward toward the red peg on the wooden peg toy, aligning the hammer head above the red peg."} +{"subtask_index": 831, "subtask": "Right hand: place: Right hand moves the hammer downward, setting the yellow hammer head onto the red peg on the wooden toy until the hammer is supported by the toy surface."} +{"subtask_index": 832, "subtask": "Right hand: other:repeated_vertical_tap: Right hand grips the wooden handle of the yellow-headed hammer, moving the hammer slightly up and down repeatedly along the vertical direction over the perforated wooden block."} +{"subtask_index": 833, "subtask": "Right hand: hold: Right hand holds the wooden handle of the yellow-headed hammer, with no observable movement of the hand, fingers or the hammer."} +{"subtask_index": 834, "subtask": "Right hand: lift_transport: Right hand holds the yellow-headed wooden hammer, lifts it off the adjacent wooden toy platform, moves it rightward over the black mat."} +{"subtask_index": 835, "subtask": "Right hand: place_release: Right hand lowers the yellow-headed hammer onto the black mat to be supported by the surface, opens fingers to release grip on the wooden handle."} +{"subtask_index": 836, "subtask": "Right hand: idle: Right hand stays empty above the placed hammer without noticeable movement."} +{"subtask_index": 837, "subtask": "Left hand: idle: Left hand remains partially visible at the left edge of the frame, empty and motionless without contacting any objects. | Right hand: reach: Right hand moves from the top right edge of the frame down and left toward the wooden handle of the yellow mallet, remaining empty without contacting any objects."} +{"subtask_index": 838, "subtask": "Left hand: idle: Left hand remains partially visible at the left edge of the frame, empty and motionless without contacting any objects. | Right hand: grasp: Right hand makes contact with the wooden handle of the yellow mallet, fingers close and make small positional adjustments around the handle to establish a stable grip, while the mallet stays resting on the black work surface."} +{"subtask_index": 839, "subtask": "Left hand: idle: Left hand remains partially visible at the left edge of the frame, empty and motionless without contacting any objects. | Right hand: lift: Right hand adjusts finger positions along the wooden hammer handle, lifts the hammer upward from the black workbench while rotating the hammer about a quarter turn counterclockwise, with the yellow hammer head rolling leftward on the workbench until the entire hammer is fully lifted off the workbench surface."} +{"subtask_index": 840, "subtask": "Left hand: idle: Left hand remains partially visible at the left edge of the frame, empty and motionless without contacting any objects. | Right hand: transport: Right hand carries the fully suspended wooden hammer to move slightly downward, rotates the hammer further to face the yellow hammer head downward directly above the red peg on the light wooden platform."} +{"subtask_index": 841, "subtask": "Left hand: idle: Left hand remains partially visible at the left edge of the frame, empty and motionless without contacting any objects. | Right hand: grasp: Right hand adjusts finger positions and grip strength on the wooden hammer handle to stabilize the hammer, keeping the yellow hammer head aligned directly above the red peg on the light wooden platform."} +{"subtask_index": 842, "subtask": "Left hand: idle: Left hand remains partially visible at the left edge of the frame, empty and motionless without contacting any objects. | Right hand: grasp: Right hand adjusts finger positions on the wooden hammer handle to stabilize the grip, with slight finger and wrist movements."} +{"subtask_index": 843, "subtask": "Left hand: idle: Left hand remains partially visible at the left edge of the frame, empty and motionless without contacting any objects. | Right hand: press: Right hand holds the wooden hammer and makes repeated small up-and-down vertical movements to apply downward pressure on the wooden peg on the perforated wooden base."} +{"subtask_index": 844, "subtask": "Left hand: idle: Left hand remains partially visible at the left edge of the frame, empty and motionless without contacting any objects. | Right hand: grasp: Right hand adjusts finger positions to form a stable grasp on the wooden handle of the hammer positioned on the wooden platform."} +{"subtask_index": 845, "subtask": "Left hand: idle: Left hand remains partially visible at the left edge of the frame, empty and motionless without contacting any objects. | Right hand: lift_transport: Right hand lifts the hammer completely away from the wooden platform and moves it horizontally to the right above the black table surface, with slight rotation of the hammer during movement."} +{"subtask_index": 846, "subtask": "Left hand: idle: Left hand remains partially visible at the left edge of the frame, empty and motionless without contacting any objects. | Right hand: place_release: Right hand lowers the hammer onto the black table surface until the hammer is fully supported by the table, with fingers opening to release the hammer as the motion completes."} +{"subtask_index": 847, "subtask": "Left hand: idle: Left hand remains partially visible at the left edge of the frame, empty and motionless without contacting any objects. | Right hand: retreat: Right hand moves empty upward and to the right away from the hammer resting on the black table surface."} +{"subtask_index": 848, "subtask": "Left hand: idle: Left hand remains partially visible at the left edge of the frame, empty and motionless without contacting any objects."} +{"subtask_index": 849, "subtask": "Left hand: idle: Left hand remains empty and stationary, staying mostly outside the visible workspace (only briefly visible at the left frame edge at frame 0) with no observable movement or object contact. | Right hand: idle: Right hand remains empty and stationary, entering the visible frame at the top-right edge at frame 1 and staying in that position with no movement or object contact through frame 8."} +{"subtask_index": 850, "subtask": "Left hand: idle: Left hand remains empty and stationary, staying mostly outside the visible workspace (only briefly visible at the left frame edge at frame 0) with no observable movement or object contact. | Right hand: reach: Right hand moves downward toward the wooden handle of the yellow mallet, with fingers held in a slightly open posture, approaching the handle and making initial light contact at the end of this segment."} +{"subtask_index": 851, "subtask": "Left hand: idle: Left hand remains empty and stationary, staying mostly outside the visible workspace (only briefly visible at the left frame edge at frame 0) with no observable movement or object contact. | Right hand: grasp: Right hand closes fingers around the wooden handle of the yellow mallet, making small adjustments to finger and wrist position to establish a firm grip, with the mallet remaining resting on the black textured work surface."} +{"subtask_index": 852, "subtask": "Left hand: idle: Left hand remains empty and stationary, staying mostly outside the visible workspace (only briefly visible at the left frame edge at frame 0) with no observable movement or object contact. | Right hand: grasp: Right hand adjusts finger positions to establish a stable grip on the wooden handle of the yellow hammer resting on the black mat."} +{"subtask_index": 853, "subtask": "Left hand: idle: Left hand remains empty and stationary, staying mostly outside the visible workspace (only briefly visible at the left frame edge at frame 0) with no observable movement or object contact. | Right hand: lift: Right hand lifts the firmly gripped yellow hammer upward until the hammer is fully separated from the black supporting mat."} +{"subtask_index": 854, "subtask": "Left hand: idle: Left hand remains empty and stationary, staying mostly outside the visible workspace (only briefly visible at the left frame edge at frame 0) with no observable movement or object contact. | Right hand: transport_place: Right hand moves the lifted yellow hammer leftward toward the wooden pegboard, lowering the hammer to rest against the pegboard surface."} +{"subtask_index": 855, "subtask": "Left hand: idle: Left hand remains empty and stationary, staying mostly outside the visible workspace (only briefly visible at the left frame edge at frame 0) with no observable movement or object contact. | Right hand: hold: Right hand holds the yellow hammer steady against the wooden pegboard without any observable movement or grip adjustment."} +{"subtask_index": 856, "subtask": "Left hand: idle: Left hand remains empty and stationary, staying mostly outside the visible workspace (only briefly visible at the left frame edge at frame 0) with no observable movement or object contact. | Right hand: press: Right hand holds the wooden hammer and makes small downward pressing motions against the peg on the perforated wooden board."} +{"subtask_index": 857, "subtask": "Left hand: idle: Left hand remains empty and stationary, staying mostly outside the visible workspace (only briefly visible at the left frame edge at frame 0) with no observable movement or object contact. | Right hand: hold: Right hand holds the wooden hammer stationary against the peg on the perforated wooden board."} +{"subtask_index": 858, "subtask": "Left hand: idle: Left hand remains empty and stationary, staying mostly outside the visible workspace (only briefly visible at the left frame edge at frame 0) with no observable movement or object contact. | Right hand: press: Right hand holds the wooden hammer, applies downward pressure on the peg and moves the hammer slightly upward over the board."} +{"subtask_index": 859, "subtask": "Left hand: idle: Left hand remains empty and stationary, staying mostly outside the visible workspace (only briefly visible at the left frame edge at frame 0) with no observable movement or object contact. | Right hand: lift: Right hand firmly grips the wooden handle of the yellow-headed hammer, lifts it upward and slightly rightward until the hammer completely leaves the black workbench surface and the wooden peg toy structure."} +{"subtask_index": 860, "subtask": "Left hand: idle: Left hand remains empty and stationary, staying mostly outside the visible workspace (only briefly visible at the left frame edge at frame 0) with no observable movement or object contact. | Right hand: transport: Right hand holds the lifted hammer, moves it rightward across the space above the workbench, rotates the wrist slightly to angle the hammer head downward while moving toward the right side of the workbench."} +{"subtask_index": 861, "subtask": "Left hand: idle: Left hand remains empty and stationary, staying mostly outside the visible workspace (only briefly visible at the left frame edge at frame 0) with no observable movement or object contact. | Right hand: place_release: Right hand lowers the hammer onto the black workbench surface, opens its fingers to release the hammer handle, separating the hand from the hammer."} +{"subtask_index": 862, "subtask": "Left hand: idle: Left hand remains empty and stationary, staying mostly outside the visible workspace (only briefly visible at the left frame edge at frame 0) with no observable movement or object contact. | Right hand: idle: Right hand remains empty at the upper right area above the workbench with no obvious movement."} +{"subtask_index": 863, "subtask": "Left hand: idle: Left hand remains empty and stationary, staying mostly outside the visible workspace (only briefly visible at the left frame edge at frame 0) with no observable movement or object contact. | Right hand: retreat: Right hand moves upward and rightward while empty, retreating out of the frame from the top-right edge."} +{"subtask_index": 864, "subtask": "Left hand: idle: Left hand remains empty and stationary, staying mostly outside the visible workspace (only briefly visible at the left frame edge at frame 0) with no observable movement or object contact."} +{"subtask_index": 865, "subtask": "Left hand: idle: Left hand remains empty at the left edge of the frame without any observable movement. | Right hand: idle: Right hand remains empty and stationary at the top-right edge of the frame."} +{"subtask_index": 866, "subtask": "Left hand: idle: Left hand remains empty at the left edge of the frame without any observable movement. | Right hand: reach: Right hand moves down and left toward the wooden handle of the yellow mallet with slightly open fingers, approaching the handle without making stable contact."} +{"subtask_index": 867, "subtask": "Left hand: idle: Left hand remains empty at the left edge of the frame without any observable movement. | Right hand: grasp: Right hand closes fingers around the wooden handle of the yellow mallet, adjusting finger position to form a stable grip while the mallet rests fully on the supporting surface."} +{"subtask_index": 868, "subtask": "Left hand: idle: Left hand remains empty at the left edge of the frame without any observable movement. | Right hand: lift: Right hand moves slightly upward while gripping the mallet handle, starting to lift the yellow mallet off the supporting surface."} +{"subtask_index": 869, "subtask": "Left hand: idle: Left hand remains empty at the left edge of the frame without any observable movement. | Right hand: lift: Right hand holds the wooden hammer with a yellow rubber head, lifting it upward to raise the hammer close to fully off the black work surface."} +{"subtask_index": 870, "subtask": "Left hand: idle: Left hand remains empty at the left edge of the frame without any observable movement. | Right hand: transport: Right hand carries the fully lifted hammer, moving leftward toward the wooden peg platform while rotating the hammer to a vertical orientation to align the yellow hammer head above the red pin on the platform."} +{"subtask_index": 871, "subtask": "Left hand: idle: Left hand remains empty at the left edge of the frame without any observable movement."} +{"subtask_index": 872, "subtask": "Left hand: idle: Left hand remains empty at the left edge of the frame without any observable movement. | Right hand: press: Right hand holds the wooden hammer and moves vertically downward to press the yellow hammer head against the green peg mounted on the wooden pegboard."} +{"subtask_index": 873, "subtask": "Left hand: idle: Left hand remains empty at the left edge of the frame without any observable movement. | Right hand: grasp: Right hand makes slight finger adjustments and small wrist shifts to reposition and stabilize its grip on the wooden hammer handle."} +{"subtask_index": 874, "subtask": "Left hand: idle: Left hand remains empty at the left edge of the frame without any observable movement. | Right hand: hold: Right hand holds the wooden hammer steadily, with the yellow hammer head aligned directly above the green peg, with no observable movement of the hand, fingers or hammer."} +{"subtask_index": 875, "subtask": "Left hand: idle: Left hand remains empty at the left edge of the frame without any observable movement. | Right hand: press: Right hand holds the wooden hammer and moves vertically downward to press the yellow hammer head onto the green peg, applying downward force to the peg."} +{"subtask_index": 876, "subtask": "Left hand: idle: Left hand remains empty at the left edge of the frame without any observable movement. | Right hand: grasp: Right hand adjusts finger positions on the wooden hammer handle to stabilize its grip, with the hammer resting on the wooden peg toy."} +{"subtask_index": 877, "subtask": "Left hand: idle: Left hand remains empty at the left edge of the frame without any observable movement. | Right hand: lift: Right hand lifts the wooden hammer upward and rightward, raising the hammer completely off the wooden peg toy surface."} +{"subtask_index": 878, "subtask": "Left hand: idle: Left hand remains empty at the left edge of the frame without any observable movement. | Right hand: transport: Right hand carries the lifted wooden hammer horizontally rightward across the black mat to the target placement area."} +{"subtask_index": 879, "subtask": "Left hand: idle: Left hand remains empty at the left edge of the frame without any observable movement. | Right hand: place_release: Right hand lowers the wooden hammer to rest on the right side of the black mat, opening fingers to release contact with the hammer handle."} +{"subtask_index": 880, "subtask": "Left hand: idle: Left hand remains empty at the left edge of the frame without any observable movement. | Right hand: retreat: Right hand moves empty upward and rightward away from the placed hammer, leaving the hammer operation area."} +{"subtask_index": 881, "subtask": "Right hand: reach: Right hand enters from the right edge of the frame and moves leftward toward the yellow hammer on the black textured mat."} +{"subtask_index": 882, "subtask": "Right hand: grasp: Right hand grasps the yellow head of the hammer, with fingers closing around the hammer head to adjust the grip."} +{"subtask_index": 883, "subtask": "Right hand: grasp: Right hand closes its fingers to grasp the wooden handle of the yellow hammer on the black textured mat."} +{"subtask_index": 884, "subtask": "Right hand: hold: Right hand holds the yellow hammer with a wooden handle on the right area of the black table surface without moving."} +{"subtask_index": 885, "subtask": "Right hand: lift: Right hand lifts the yellow hammer upward and slightly leftward until it completely leaves the black table surface."} +{"subtask_index": 886, "subtask": "Right hand: transport: Right hand transports the yellow hammer leftward while rotating it about 90 degrees to a nearly vertical orientation with the yellow head on top, moving it above the red peg on the wooden pegboard."} +{"subtask_index": 887, "subtask": "Right hand: press: Right hand presses the red peg downward with the yellow hammer, pushing the peg into the perforated wooden board."} +{"subtask_index": 888, "subtask": "Right hand: hold: Right hand holds the yellow hammer on the perforated wooden board with the red peg fully pressed in, without moving."} +{"subtask_index": 889, "subtask": "Right hand: lift: Right hand lifts the yellow hammer upward from the perforated wooden board."} +{"subtask_index": 890, "subtask": "Right hand: lift: Right hand lifts the yellow-headed wooden hammer slightly upward from the hole on the wooden board with green pegs."} +{"subtask_index": 891, "subtask": "Right hand: hold: Right hand holds the yellow-headed wooden hammer stationary in the air above the wooden board with green pegs."} +{"subtask_index": 892, "subtask": "Right hand: press: Right hand presses the yellow-headed wooden hammer downward along the vertical direction into the hole on the wooden board with green pegs."} +{"subtask_index": 893, "subtask": "Right hand: lift_transport: Right hand lifts the yellow hammer off the wooden base and moves it rightward to above the right side of the black mat."} +{"subtask_index": 894, "subtask": "Right hand: place_release: Right hand places the yellow hammer onto the black mat and releases its grip."} +{"subtask_index": 895, "subtask": "Right hand: idle: Right hand remains empty above the right side of the black mat without moving."} +{"subtask_index": 896, "subtask": "Right hand: retreat: Right hand stays empty and moves rightward, gradually exiting the frame from the right edge."} +{"subtask_index": 897, "subtask": "Left hand: idle: Partially visible left hand stays at the far left edge of the frame, empty, with no observable movement or contact with any objects. | Right hand: reach: Empty right hand enters the frame from the top right edge and moves toward the central workspace without contacting any objects."} +{"subtask_index": 898, "subtask": "Left hand: idle: Partially visible left hand stays at the far left edge of the frame, empty, with no observable movement or contact with any objects. | Right hand: reach: Right hand moves down-left toward the wooden handle of the yellow mallet with fingers extended, without contacting the mallet."} +{"subtask_index": 899, "subtask": "Left hand: idle: Partially visible left hand stays at the far left edge of the frame, empty, with no observable movement or contact with any objects. | Right hand: grasp: Right hand closes fingers around the wooden handle of the yellow mallet, adjusting finger positions to establish a grip while the mallet rests on the black work surface."} +{"subtask_index": 900, "subtask": "Left hand: idle: Partially visible left hand stays at the far left edge of the frame, empty, with no observable movement or contact with any objects. | Right hand: grasp: Right hand adjusts its fingers around the light wooden handle of the yellow mallet resting on the black work surface to form a stable grip."} +{"subtask_index": 901, "subtask": "Left hand: idle: Partially visible left hand stays at the far left edge of the frame, empty, with no observable movement or contact with any objects. | Right hand: lift_transport: Right hand lifts the yellow mallet fully off the black work surface and moves it leftward toward the light wooden peg toy, carrying it to the position above the peg board."} +{"subtask_index": 902, "subtask": "Left hand: idle: Partially visible left hand stays at the far left edge of the frame, empty, with no observable movement or contact with any objects. | Right hand: hold: Right hand holds the yellow mallet steadily above the wooden peg toy, with no visible movement of the hand, fingers, or mallet."} +{"subtask_index": 903, "subtask": "Left hand: idle: Partially visible left hand stays at the far left edge of the frame, empty, with no observable movement or contact with any objects. | Right hand: reorient: Right hand holds the mallet handle, slightly rotates the wrist to adjust the mallet's orientation with very little positional shift, with subtle finger adjustments to maintain grip."} +{"subtask_index": 904, "subtask": "Left hand: idle: Partially visible left hand stays at the far left edge of the frame, empty, with no observable movement or contact with any objects. | Right hand: lift: Right hand grips the mallet handle and moves upward, lifting the yellow mallet head off the surface of the wooden peg board."} +{"subtask_index": 905, "subtask": "Left hand: idle: Partially visible left hand stays at the far left edge of the frame, empty, with no observable movement or contact with any objects. | Right hand: lift_transport: Right hand holds the yellow wooden mallet, lifts it off the wooden peg toy, and moves it rightward to the position above the right area of the black table surface."} +{"subtask_index": 906, "subtask": "Left hand: idle: Partially visible left hand stays at the far left edge of the frame, empty, with no observable movement or contact with any objects. | Right hand: place_release: Right hand lowers the yellow wooden mallet to the black table surface, opens fingers to release the mallet, letting it come to rest on the table."} +{"subtask_index": 907, "subtask": "Left hand: idle: Partially visible left hand stays at the far left edge of the frame, empty, with no observable movement or contact with any objects. | Right hand: idle: Right hand remains empty above the placed yellow mallet without noticeable movement."} +{"subtask_index": 908, "subtask": "Left hand: idle: Partially visible left hand stays at the far left edge of the frame, empty, with no observable movement or contact with any objects. | Right hand: retreat: Right hand stays empty, moves up and right away from the yellow-headed wooden mallet on the black work surface, and exits the top-right edge of the frame."} +{"subtask_index": 909, "subtask": "Left hand: idle: Partially visible left hand stays at the far left edge of the frame, empty, with no observable movement or contact with any objects."} +{"subtask_index": 910, "subtask": "Left hand: retreat: Left hand moves leftward to exit the left edge of the frame, holding no object. | Right hand: idle: Right hand remains empty at the right edge of the frame without any observable movement."} +{"subtask_index": 911, "subtask": "Left hand: idle: Left hand remains empty outside the left edge of the frame with no observable movement. | Right hand: idle: Right hand remains empty at the right edge of the frame without any observable movement."} +{"subtask_index": 912, "subtask": "Left hand: idle: Left hand remains empty outside the left edge of the frame with no observable movement. | Right hand: reach: Right hand moves leftward from the right edge toward the yellow mallet on the black work surface, with an open empty hand."} +{"subtask_index": 913, "subtask": "Left hand: idle: Left hand remains empty outside the left edge of the frame with no observable movement. | Right hand: reach: Right hand moves downward from the top-right edge of the frame toward the wooden handle of the mallet while remaining empty."} +{"subtask_index": 914, "subtask": "Left hand: idle: Left hand remains empty outside the left edge of the frame with no observable movement. | Right hand: grasp: Right hand makes contact with the wooden handle of the mallet, closing fingers and adjusting contact points to establish a grasp."} +{"subtask_index": 915, "subtask": "Left hand: idle: Left hand remains empty outside the left edge of the frame with no observable movement. | Right hand: grasp: Right hand closes its fingers around the wooden handle of the yellow-headed hammer, making slight finger and wrist adjustments to form a grip on the handle that rests on the black platform."} +{"subtask_index": 916, "subtask": "Left hand: idle: Left hand remains empty outside the left edge of the frame with no observable movement. | Right hand: lift: Right hand holds the wooden handle of the hammer, lifts the hammer upward until the hammer completely leaves the black table surface."} +{"subtask_index": 917, "subtask": "Left hand: idle: Left hand remains empty outside the left edge of the frame with no observable movement. | Right hand: transport: Right hand carries the hammer to move toward the area above the red pin on the wooden peg board, and rotates the hammer about a quarter turn to make the yellow hammer head face downward."} +{"subtask_index": 918, "subtask": "Left hand: idle: Left hand remains empty outside the left edge of the frame with no observable movement. | Right hand: press: Right hand holds the wooden hammer with a stable grip, makes small repeated vertical up-and-down movements to apply downward pressure on the wooden peg inserted into the perforated wooden board."} +{"subtask_index": 919, "subtask": "Left hand: idle: Left hand remains empty outside the left edge of the frame with no observable movement. | Right hand: hold: Right hand holds the wooden hammer steadily against the wooden peg, with no observable movement of the hand, wrist or hammer."} +{"subtask_index": 920, "subtask": "Left hand: idle: Left hand remains empty outside the left edge of the frame with no observable movement. | Right hand: press: Right hand moves the wooden hammer slightly downward to apply downward pressure on the wooden peg."} +{"subtask_index": 921, "subtask": "Left hand: idle: Left hand remains empty outside the left edge of the frame with no observable movement. | Right hand: lift: Right hand grips the wooden hammer handle and lifts the hammer upward until it is fully separated from the wooden peg toy base."} +{"subtask_index": 922, "subtask": "Left hand: idle: Left hand remains empty outside the left edge of the frame with no observable movement. | Right hand: transport: Right hand carries the lifted wooden hammer and moves it horizontally to the right area of the black work surface."} +{"subtask_index": 923, "subtask": "Left hand: idle: Left hand remains empty outside the left edge of the frame with no observable movement. | Right hand: reorient: Right hand rotates the held wooden hammer counterclockwise for about a quarter turn to adjust its orientation."} +{"subtask_index": 924, "subtask": "Left hand: idle: Left hand remains empty outside the left edge of the frame with no observable movement. | Right hand: place_release: Right hand lowers the rotated wooden hammer down to the black work surface, then opens fingers to release the hammer onto the surface."} +{"subtask_index": 925, "subtask": "Left hand: idle: Left hand remains empty outside the left edge of the frame with no observable movement. | Right hand: retreat: Right hand moves empty upward away from the yellow hammer placed on the black mat, traveling toward the top-right edge until it exits the visible frame."} +{"subtask_index": 926, "subtask": "Left hand: idle: Left hand remains empty outside the left edge of the frame with no observable movement."} +{"subtask_index": 927, "subtask": "Left hand: idle: Left hand remains empty at the left edge of the frame without moving. | Right hand: idle: Right hand remains empty at the top right corner of the frame without moving."} +{"subtask_index": 928, "subtask": "Left hand: idle: Left hand remains empty at the left edge of the frame without moving. | Right hand: reach: Right hand moves downward and leftward from the top right corner toward the wooden handle of the yellow-headed mallet on the black work surface, with fingers slightly open, making initial contact with the handle by the end of the segment without forming a stable grasp."} +{"subtask_index": 929, "subtask": "Left hand: idle: Left hand remains empty at the left edge of the frame without moving. | Right hand: grasp: Right hand closes fingers and makes slight adjustments to securely grip the wooden mallet handle resting on the black mat."} +{"subtask_index": 930, "subtask": "Left hand: idle: Left hand remains empty at the left edge of the frame without moving. | Right hand: lift: Right hand lifts the gripped wooden mallet upward, fully separating it from the black supporting mat."} +{"subtask_index": 931, "subtask": "Left hand: idle: Left hand remains empty at the left edge of the frame without moving. | Right hand: transport: Right hand carries the lifted wooden mallet through the air to the position above the wooden peg platform."} +{"subtask_index": 932, "subtask": "Left hand: idle: Left hand remains empty at the left edge of the frame without moving. | Right hand: place: Right hand lowers the wooden mallet downward until the mallet head is supported by the wooden peg platform."} +{"subtask_index": 933, "subtask": "Left hand: idle: Left hand remains empty at the left edge of the frame without moving. | Right hand: grasp: Right hand makes small adjustments to its grip on the wooden mallet handle, with slight finger movements and small vertical shifts of the mallet to stabilize the hold."} +{"subtask_index": 934, "subtask": "Left hand: idle: Left hand remains empty at the left edge of the frame without moving. | Right hand: hold: Right hand holds the wooden mallet handle steadily, with no observable movement of the hand, fingers or the mallet."} +{"subtask_index": 935, "subtask": "Left hand: idle: Left hand remains empty at the left edge of the frame without moving. | Right hand: press: Right hand presses the wooden mallet vertically downwards into the hole on the perforated wooden board, with minor finger adjustments during the pressing motion."} +{"subtask_index": 936, "subtask": "Left hand: idle: Left hand remains empty at the left edge of the frame without moving. | Right hand: lift_transport: Right hand holds the wooden mallet, lifts it off the wooden pegboard, and transports it rightward to the area above the right side of the black work surface."} +{"subtask_index": 937, "subtask": "Left hand: idle: Left hand remains empty at the left edge of the frame without moving. | Right hand: place_release: Right hand lowers the wooden mallet onto the right side of the black work surface, opens its fingers to release the mallet, and separates from the mallet handle as the mallet rests on the surface."} +{"subtask_index": 938, "subtask": "Left hand: idle: Left hand remains empty at the left edge of the frame without moving. | Right hand: retreat: Right hand moves empty upward and rightward away from the placed mallet, retreating toward the upper right edge of the frame."} +{"subtask_index": 939, "subtask": "Right hand: reach: Right hand moves downward from the upper right of the frame while empty, approaching the wooden handle of the mallet placed on the black work surface."} +{"subtask_index": 940, "subtask": "Right hand: grasp: Right hand curls its fingers to close around the wooden handle of the mallet, adjusting finger positions to form a stable grasp while the mallet remains resting on the table."} +{"subtask_index": 941, "subtask": "Right hand: lift: Right hand lifts the grasped mallet upward until the entire mallet is fully separated from the supporting black work surface."} +{"subtask_index": 942, "subtask": "Right hand: transport: Right hand carries the lifted mallet toward the central wooden peg platform, positioning the yellow mallet head above the red peg on the platform surface."} +{"subtask_index": 943, "subtask": "Right hand: hold: Right hand holds the wooden mallet handle stationary, with the yellow mallet head positioned over the wooden peg on the perforated wooden board."} +{"subtask_index": 944, "subtask": "Right hand: other:repeated_tapping: Right hand holds the wooden mallet handle and makes small repeated up and down movements, driving the yellow mallet head to repeatedly tap the wooden peg on the perforated wooden board."} +{"subtask_index": 945, "subtask": "Right hand: hold: Right hand holds the wooden mallet handle without moving, with the yellow mallet head resting against the wooden peg on the perforated wooden board."} +{"subtask_index": 946, "subtask": "Right hand: press: Right hand holds the wooden mallet handle and moves slightly downward, applying vertical pressure to the wooden peg via the yellow mallet head."} +{"subtask_index": 947, "subtask": "Right hand: lift: Right hand grips the wooden mallet and lifts its wooden handle end off the black work surface."} +{"subtask_index": 948, "subtask": "Right hand: transport: Right hand holds the lifted wooden mallet and moves it rightward through the air above the black textured work surface, away from the wooden peg toy with green posts."} +{"subtask_index": 949, "subtask": "Right hand: place_release: Right hand lowers the wooden mallet to rest its yellow head on the right section of the black work surface, opens fingers to release the mallet handle so the mallet lies flat on the surface."} +{"subtask_index": 950, "subtask": "Right hand: idle: Right hand remains empty above the right section of the black work surface, with no visible movement of the hand or fingers."} +{"subtask_index": 951, "subtask": "Right hand: retreat: Right hand moves upward toward the top-right edge of the frame while empty, exiting the frame through the top-right edge."} +{"subtask_index": 952, "subtask": "Right hand: reach_grasp: Right hand enters the frame from the top-right edge, moves toward the yellow head of the wooden mallet, closing fingers around the mallet head."} +{"subtask_index": 953, "subtask": "Left hand: idle: Left hand is partially visible at the far left edge of the frame in the first few frames before moving out of view, remaining empty with no observable operational movement across the entire segment. | Right hand: reach: Right hand starts at the top-right edge of the frame and moves downward toward the wooden handle of the yellow mallet, remaining empty with fingers slightly extended as it approaches the target."} +{"subtask_index": 954, "subtask": "Left hand: idle: Left hand is partially visible at the far left edge of the frame in the first few frames before moving out of view, remaining empty with no observable operational movement across the entire segment. | Right hand: grasp: Right hand makes contact with the wooden handle of the yellow mallet, fingers close around the handle and make small adjustments to establish a grip, while the mallet stays resting on the black textured work surface."} +{"subtask_index": 955, "subtask": "Left hand: idle: Left hand is partially visible at the far left edge of the frame in the first few frames before moving out of view, remaining empty with no observable operational movement across the entire segment. | Right hand: grasp: Right hand adjusts finger positions to form a stable grasp on the wooden handle of the yellow mallet, which rests fully on the black table surface."} +{"subtask_index": 956, "subtask": "Left hand: idle: Left hand is partially visible at the far left edge of the frame in the first few frames before moving out of view, remaining empty with no observable operational movement across the entire segment. | Right hand: lift: Right hand lifts the grasped yellow mallet upward, gradually raising the mallet until it is completely lifted off the black table surface."} +{"subtask_index": 957, "subtask": "Left hand: idle: Left hand is partially visible at the far left edge of the frame in the first few frames before moving out of view, remaining empty with no observable operational movement across the entire segment. | Right hand: transport: Right hand moves the fully lifted yellow mallet leftward toward the central wooden peg board, with the mallet suspended in air during movement."} +{"subtask_index": 958, "subtask": "Left hand: idle: Left hand is partially visible at the far left edge of the frame in the first few frames before moving out of view, remaining empty with no observable operational movement across the entire segment. | Right hand: hold: Right hand holds the yellow mallet stationary, with the mallet head resting against the left green support post of the peg board and the mallet handle end touching the black table surface."} +{"subtask_index": 959, "subtask": "Left hand: idle: Left hand is partially visible at the far left edge of the frame in the first few frames before moving out of view, remaining empty with no observable operational movement across the entire segment. | Right hand: place: Right hand moves the grasped yellow mallet downward to place the mallet head onto the surface of the wooden peg board, until the mallet head is stably supported by the board."} +{"subtask_index": 960, "subtask": "Left hand: idle: Left hand is partially visible at the far left edge of the frame in the first few frames before moving out of view, remaining empty with no observable operational movement across the entire segment."} +{"subtask_index": 961, "subtask": "Left hand: idle: Left hand is partially visible at the far left edge of the frame in the first few frames before moving out of view, remaining empty with no observable operational movement across the entire segment. | Right hand: press: Right hand holds the wooden mallet, moves it vertically downward to press the yellow cylindrical peg on the holed wooden board, applying downward pressure to push the peg slightly through the board hole."} +{"subtask_index": 962, "subtask": "Left hand: idle: Left hand is partially visible at the far left edge of the frame in the first few frames before moving out of view, remaining empty with no observable operational movement across the entire segment. | Right hand: transport: Right hand holds the wooden mallet, moves it slightly upward and repositions it directly above the yellow peg, carrying the mallet over a small spatial range."} +{"subtask_index": 963, "subtask": "Left hand: idle: Left hand is partially visible at the far left edge of the frame in the first few frames before moving out of view, remaining empty with no observable operational movement across the entire segment. | Right hand: lift: Right hand grips the wooden mallet and lifts it upward, raising the mallet completely clear of the wooden peg platform."} +{"subtask_index": 964, "subtask": "Left hand: idle: Left hand is partially visible at the far left edge of the frame in the first few frames before moving out of view, remaining empty with no observable operational movement across the entire segment. | Right hand: transport: Right hand carries the lifted wooden mallet along an arcing path up to the upper right area and down toward the black table surface."} +{"subtask_index": 965, "subtask": "Left hand: idle: Left hand is partially visible at the far left edge of the frame in the first few frames before moving out of view, remaining empty with no observable operational movement across the entire segment. | Right hand: place_release: Right hand lowers the wooden mallet onto the black table surface, opens its fingers to release the mallet, leaving the mallet fully supported on the table with the hand separated from the mallet."} +{"subtask_index": 966, "subtask": "Left hand: idle: Left hand is partially visible at the far left edge of the frame in the first few frames before moving out of view, remaining empty with no observable operational movement across the entire segment. | Right hand: retreat: Right hand, empty after releasing the mallet, moves upward and away from the mallet's position on the table."} +{"subtask_index": 967, "subtask": "Left hand: idle: Left hand is partially visible at the far left edge of the frame in the first few frames before moving out of view, remaining empty with no observable operational movement across the entire segment. | Right hand: reach: Right hand enters from the top-right edge of the frame and moves downward toward the yellow wooden mallet, approaching the yellow mallet head."} +{"subtask_index": 968, "subtask": "Right hand: reach: Right hand moves diagonally down-left from the top-right edge of the frame toward the wooden handle of the yellow-headed hammer, staying empty without touching the hammer."} +{"subtask_index": 969, "subtask": "Right hand: grasp: Right hand makes contact with the wooden handle of the hammer, closing fingers and making slight positional adjustments to form a grip on the handle."} +{"subtask_index": 970, "subtask": "Right hand: grasp: Right hand adjusts finger positions to firmly close around the wooden handle of the yellow-headed hammer resting on the black work surface to the right of the wooden bench."} +{"subtask_index": 971, "subtask": "Right hand: lift: Right hand lifts the grasped hammer upward, raising the entire hammer completely off the black supporting work surface."} +{"subtask_index": 972, "subtask": "Right hand: transport: Right hand carries the lifted hammer leftward through the air, moving it to the position directly above the central wooden workbench."} +{"subtask_index": 973, "subtask": "Right hand: place: Right hand lowers the hammer downward, setting the yellow hammer head onto the surface of the central wooden workbench until the hammer is supported by the bench."} +{"subtask_index": 974, "subtask": "Right hand: hold: Right hand holds the wooden handle of the hammer stationary, with the yellow hammer head resting supported on the central wooden workbench, with no observable movement of the hand or hammer."} +{"subtask_index": 975, "subtask": "Right hand: grasp: Right hand adjusts finger positions on the wooden hammer handle and makes small wrist movements to slightly rotate and reposition the hammer, stabilizing the grip above the workbench."} +{"subtask_index": 976, "subtask": "Right hand: hold: Right hand holds the wooden hammer steadily above the workbench, with no observable movement of the fingers, wrist or the hammer itself."} +{"subtask_index": 977, "subtask": "Right hand: grasp: Right hand slightly adjusts finger contact points on the hammer handle and moves the wrist to make minor positional adjustments to the hammer above the workbench to stabilize the grip."} +{"subtask_index": 978, "subtask": "Right hand: lift: Right hand firmly grips the handle of the yellow-headed wooden hammer and lifts it upward, separating it from the surface of the wooden peg toy base."} +{"subtask_index": 979, "subtask": "Right hand: transport: Right hand holds the hammer and moves it horizontally rightward through the air to the position above the right side of the black table."} +{"subtask_index": 980, "subtask": "Right hand: place_release: Right hand lowers the hammer down to contact the black table surface, opens its fingers to release the hammer, leaving it lying stably on the table."} +{"subtask_index": 981, "subtask": "Right hand: retreat: Right hand moves slightly upward away from the placed hammer, staying empty as it pulls back from the hammer's position."} +{"subtask_index": 982, "subtask": "Right hand: reach: Right hand moves leftward from the right edge of the frame toward the wooden handle of the yellow mallet, remaining empty and not contacting the mallet."} +{"subtask_index": 983, "subtask": "Right hand: grasp: Right hand grasps the wooden handle of the yellow mallet, with fingers closing around the handle to establish a stable grip."} +{"subtask_index": 984, "subtask": "Right hand: grasp: Right hand closes its fingers to grasp the wooden handle of the yellow-headed hammer on the black textured mat."} +{"subtask_index": 985, "subtask": "Right hand: lift: Right hand lifts the yellow-headed mallet by its wooden handle from the black textured table surface, moving it upward and leftward until the mallet is fully off the surface."} +{"subtask_index": 986, "subtask": "Right hand: transport: Right hand transports the yellow-headed mallet leftward and upward to the area above the wooden pegboard, rotating the mallet so its yellow head faces upward."} +{"subtask_index": 987, "subtask": "Right hand: transport: Right hand carries the mallet and moves it downward to make the mallet head contact the green peg on the wooden board."} +{"subtask_index": 988, "subtask": "Right hand: hold: Right hand holds the mallet with its head resting on the green peg without moving."} +{"subtask_index": 989, "subtask": "Right hand: press: Right hand holds the mallet and presses the green peg downward into the wooden board."} +{"subtask_index": 990, "subtask": "Right hand: lift_transport: Right hand lifts the wooden mallet upward away from the supporting surface and moves it rightward to the position above the middle hole of the wooden board."} +{"subtask_index": 991, "subtask": "Right hand: hold: Right hand holds the wooden mallet steady above the middle hole of the wooden board without any observable movement."} +{"subtask_index": 992, "subtask": "Right hand: grasp: Right hand adjusts its grip on the wooden mallet handle with slight finger and wrist movements to stabilize the mallet."} +{"subtask_index": 993, "subtask": "Right hand: hold: Right hand holds the wooden mallet with a yellow head above the red peg on the toy board without moving."} +{"subtask_index": 994, "subtask": "Right hand: transport_press: Right hand moves the wooden mallet downward and presses its yellow head against the red peg on the toy board."} +{"subtask_index": 995, "subtask": "Right hand: transport: Right hand moves the wooden mallet upward away from the red peg on the toy board."} +{"subtask_index": 996, "subtask": "Right hand: transport: Right hand transports the mallet rightward, moving it from above the wooden pegboard with green pegs to the right side of the black textured working surface, keeping the mallet vertical with its yellow head upward."} +{"subtask_index": 997, "subtask": "Right hand: reorient: Right hand reorients the mallet by rotating it clockwise approximately 90 degrees at a roughly fixed position, changing the mallet from a vertical orientation to a tilted orientation with the yellow head facing rightward and slightly downward."} +{"subtask_index": 998, "subtask": "Right hand: place_release: Right hand places the mallet down onto the black working surface and releases its grip on the mallet handle, with fingers opening to separate from the mallet."} +{"subtask_index": 999, "subtask": "Right hand: idle: Right hand remains empty and stationary at the right side of the frame above the black working surface."} +{"subtask_index": 1000, "subtask": "Right hand: release: Right hand releases the mallet handle on the black textured mat, with fingers opening to separate from the handle."} +{"subtask_index": 1001, "subtask": "Right hand: retreat: Right hand moves rightward away from the mallet, retreating toward the right edge of the frame."} +{"subtask_index": 1002, "subtask": "Right hand: reach: Right hand moves leftward from the right edge of the frame toward the yellow-headed hammer placed on the black textured mat."} +{"subtask_index": 1003, "subtask": "Right hand: grasp: Right hand makes contact with the wooden handle of the yellow-headed hammer and adjusts its fingers to form a stable grasp."} +{"subtask_index": 1004, "subtask": "Right hand: grasp: Right hand grasps the handle of the yellow-headed mallet on the black mat, adjusting finger position to form a stable grip."} +{"subtask_index": 1005, "subtask": "Right hand: lift: Right hand lifts the yellow-headed mallet upward until it is completely off the black mat."} +{"subtask_index": 1006, "subtask": "Right hand: transport: Right hand transports the yellow-headed mallet leftward and upward to the position above the wooden pegboard."} +{"subtask_index": 1007, "subtask": "Right hand: reorient: Right hand holds the wooden handle of the yellow-headed mallet and rotates the mallet upward around the yellow peg on the wooden base, with the mallet head remaining in contact with the peg."} +{"subtask_index": 1008, "subtask": "Right hand: lift_transport: Right hand lifts the yellow-headed mallet off the wooden board and transports it slightly upward and leftward while gripping the lower part of its wooden handle."} +{"subtask_index": 1009, "subtask": "Right hand: hold: Right hand holds the yellow-headed mallet with its yellow head resting on the red peg of the wooden base without moving."} +{"subtask_index": 1010, "subtask": "Right hand: lift: Right hand lifts the yellow-headed mallet upward away from the red peg on the wooden base."} +{"subtask_index": 1011, "subtask": "Right hand: hold: Right hand holds the lifted yellow-headed mallet in the air above the wooden base without moving."} +{"subtask_index": 1012, "subtask": "Right hand: transport_press: Right hand moves the yellow-headed mallet downward and presses the red peg into the wooden base."} +{"subtask_index": 1013, "subtask": "Right hand: lift_transport: Right hand lifts the yellow-headed mallet off the wooden peg toy and transports it rightward above the black textured surface."} +{"subtask_index": 1014, "subtask": "Right hand: place_release: Right hand places the yellow-headed mallet onto the black textured surface and releases its grip on the wooden handle."} +{"subtask_index": 1015, "subtask": "Right hand: retreat: Right hand retreats rightward toward the right edge of the frame, remaining empty with fingers slightly open."} +{"subtask_index": 1016, "subtask": "Right hand: reach: Right hand moves from the right edge of the frame toward the yellow hammer placed on the black mat to the right of the wooden board."} +{"subtask_index": 1017, "subtask": "Right hand: grasp: Right hand makes contact with the handle of the yellow hammer and adjusts its fingers to form a stable grip."} +{"subtask_index": 1018, "subtask": "Right hand: lift_transport: Right hand lifts the yellow hammer off the black mat and transports it toward the upper area of the wooden board with pegs."} +{"subtask_index": 1019, "subtask": "Right hand: transport: Right hand transports the hammer to the position right above the red peg on the peg board."} +{"subtask_index": 1020, "subtask": "Right hand: press: Right hand presses the hammer downward to hit the red peg on the peg board."} +{"subtask_index": 1021, "subtask": "Right hand: lift: Right hand lifts the hammer away from the peg board."} +{"subtask_index": 1022, "subtask": "Right hand: transport: Right hand transports the hammer rightward above the black mat."} +{"subtask_index": 1023, "subtask": "Right hand: place_release: Right hand places the hammer on the black mat and releases the grasp."} +{"subtask_index": 1024, "subtask": "Right hand: retreat: Right hand retreats from the operation position to the upper right area."} +{"subtask_index": 1025, "subtask": "Right hand: idle: Right hand remains empty at the upper right area without moving."} +{"subtask_index": 1026, "subtask": "Right hand: reach: Right hand enters from the right side of the frame and moves toward the yellow-headed hammer placed on the black mat."} +{"subtask_index": 1027, "subtask": "Right hand: grasp: Right hand closes its fingers around the wooden handle of the yellow-headed hammer and adjusts to form a stable grip."} +{"subtask_index": 1028, "subtask": "Right hand: lift: Right hand lifts the yellow-headed hammer slightly upward from the black mat."} +{"subtask_index": 1029, "subtask": "Right hand: lift: Right hand lifts the yellow-headed hammer from the black table surface."} +{"subtask_index": 1030, "subtask": "Right hand: transport: Right hand transports the yellow-headed hammer leftward to the position above the wooden peg board."} +{"subtask_index": 1031, "subtask": "Right hand: press: Right hand pushes the wooden hammer handle upward to make the yellow hammer head press the green peg on the wooden peg board."} +{"subtask_index": 1032, "subtask": "Right hand: hold: Right hand holds the wooden hammer handle without moving after pressing the green peg."} +{"subtask_index": 1033, "subtask": "Right hand: transport: Right hand pulls the wooden hammer handle downward to move the yellow hammer head upward away from the green peg."} +{"subtask_index": 1034, "subtask": "Right hand: place: Right hand lowers the hammer and places it onto the black mat."} +{"subtask_index": 1035, "subtask": "Right hand: release: Right hand releases the hammer, fingers separating from the hammer handle."} +{"subtask_index": 1036, "subtask": "Right hand: reach: Right hand moves down-left from the top right of the frame toward the yellow hammer with a wooden handle on the black textured mat."} +{"subtask_index": 1037, "subtask": "Right hand: grasp: Right hand grasps the wooden handle of the yellow hammer, with fingers closing and adjusting to establish a stable grip."} +{"subtask_index": 1038, "subtask": "Right hand: hold: Right hand holds the yellow-headed mallet on the black textured mat without moving."} +{"subtask_index": 1039, "subtask": "Right hand: lift: Right hand lifts the yellow-headed mallet from the black textured mat until the mallet is completely off the mat surface."} +{"subtask_index": 1040, "subtask": "Right hand: transport: Right hand transports the yellow-headed mallet up-left toward the wooden pegboard with green corner pegs."} +{"subtask_index": 1041, "subtask": "Right hand: press: Right hand presses the green peg on the wooden base downward with the yellow-headed mallet it holds."} +{"subtask_index": 1042, "subtask": "Right hand: lift_transport: Right hand lifts the yellow-headed mallet off the wooden pegboard and transports it rightward and upward while maintaining a stable grip."} +{"subtask_index": 1043, "subtask": "Right hand: reorient_release: Right hand rotates the yellow-headed mallet to a head-down orientation and releases its grip, causing the mallet to fall onto the black textured mat."} +{"subtask_index": 1044, "subtask": "Right hand: idle: Right hand stays empty and motionless at the upper right area of the frame."} +{"subtask_index": 1045, "subtask": "Right hand: retreat: Right hand remains empty and moves rightward, gradually exiting the frame from the right edge."} +{"subtask_index": 1046, "subtask": "Left hand: idle: Left hand remains empty and stationary without contacting any operated objects throughout the segment. | Right hand: idle: Right hand remains empty at the upper right edge of the frame, with no obvious movement during this period."} +{"subtask_index": 1047, "subtask": "Left hand: idle: Left hand remains empty and stationary without contacting any operated objects throughout the segment. | Right hand: reach: Right hand moves downward and leftward from the upper right edge toward the wooden mallet, with fingers kept slightly open and not yet contacting the mallet."} +{"subtask_index": 1048, "subtask": "Left hand: idle: Left hand remains empty and stationary without contacting any operated objects throughout the segment. | Right hand: grasp: Right hand makes contact with the wooden handle of the mallet, gradually closes fingers around the handle and adjusts contact position to form a grip, with the mallet remaining on the black supporting surface."} +{"subtask_index": 1049, "subtask": "Left hand: idle: Left hand remains empty and stationary without contacting any operated objects throughout the segment. | Right hand: lift: Right hand lifts the grasped wooden mallet upward off the black supporting mat."} +{"subtask_index": 1050, "subtask": "Left hand: idle: Left hand remains empty and stationary without contacting any operated objects throughout the segment. | Right hand: transport: Right hand transports the wooden mallet toward the central wooden pegboard, rotating the mallet about a quarter turn counterclockwise to orient the yellow hammer head downward toward the pegboard."} +{"subtask_index": 1051, "subtask": "Left hand: idle: Left hand remains empty and stationary without contacting any operated objects throughout the segment. | Right hand: hold: Right hand holds the wooden mallet stationary with the yellow hammer head positioned against the wooden pegboard, with no visible movement of the hand, fingers or mallet."} +{"subtask_index": 1052, "subtask": "Left hand: idle: Left hand remains empty and stationary without contacting any operated objects throughout the segment. | Right hand: press: Right hand holds the wooden mallet, moves vertically downward toward the wooden base, and presses the yellow mallet head against the green peg on the base."} +{"subtask_index": 1053, "subtask": "Left hand: idle: Left hand remains empty and stationary without contacting any operated objects throughout the segment. | Right hand: transport: Right hand holds the wooden mallet and moves it vertically upward away from the wooden base."} +{"subtask_index": 1054, "subtask": "Left hand: idle: Left hand remains empty and stationary without contacting any operated objects throughout the segment. | Right hand: grasp: Right hand adjusts finger positions around the wooden mallet handle, gradually closing fingers to establish a stable grip on the handle."} +{"subtask_index": 1055, "subtask": "Left hand: idle: Left hand remains empty and stationary without contacting any operated objects throughout the segment. | Right hand: reorient: Right hand holds the mallet handle and slightly rotates the mallet to shift the yellow hammerhead leftward above the wooden pegboard, adjusting the mallet's orientation with minimal positional change."} +{"subtask_index": 1056, "subtask": "Left hand: idle: Left hand remains empty and stationary without contacting any operated objects throughout the segment. | Right hand: lift: Right hand grips the wooden handle of the mallet and lifts the mallet upward off the wooden peg board support surface."} +{"subtask_index": 1057, "subtask": "Left hand: idle: Left hand remains empty and stationary without contacting any operated objects throughout the segment. | Right hand: transport: Right hand holds the lifted mallet and moves it upward and rightward through the air to the position right of the peg board."} +{"subtask_index": 1058, "subtask": "Left hand: idle: Left hand remains empty and stationary without contacting any operated objects throughout the segment. | Right hand: place_release: Right hand grips the mallet, lowers the mallet to set its yellow head on the black work surface, and opens the fingers to release the wooden handle."} +{"subtask_index": 1059, "subtask": "Left hand: idle: Left hand remains empty and stationary without contacting any operated objects throughout the segment. | Right hand: retreat: Right hand moves empty upward and away from the placed mallet on the work surface."} +{"subtask_index": 1060, "subtask": "Left hand: idle: Left hand remains empty and stationary without contacting any operated objects throughout the segment."} +{"subtask_index": 1061, "subtask": "Left hand: idle: Left hand remains empty at the far left edge of the visible frame with no observable movement or finger posture change. | Right hand: other:enter_frame: Right hand moves left from outside the right edge of the frame into the top-right visible area, making no contact with any object."} +{"subtask_index": 1062, "subtask": "Left hand: idle: Left hand remains empty at the far left edge of the visible frame with no observable movement or finger posture change. | Right hand: idle: Right hand remains empty at the top-right corner of the visible frame with no observable movement or finger posture change."} +{"subtask_index": 1063, "subtask": "Left hand: idle: Left hand remains empty at the far left edge of the visible frame with no observable movement or finger posture change. | Right hand: reach: Right hand moves downward toward the wooden handle of the yellow mallet placed on the black work surface, with fingers held in a slightly open posture."} +{"subtask_index": 1064, "subtask": "Left hand: idle: Left hand remains empty at the far left edge of the visible frame with no observable movement or finger posture change. | Right hand: grasp: Right hand closes fingers around the wooden handle of the yellow mallet, making small positional adjustments of the fingers and wrist to establish a secure grip while the mallet remains resting on the work surface."} +{"subtask_index": 1065, "subtask": "Left hand: idle: Left hand remains empty at the far left edge of the visible frame with no observable movement or finger posture change. | Right hand: lift: Right hand firmly grips the wooden mallet with a yellow rubber head resting on the black work surface, and lifts the mallet upward until the entire mallet is raised off the supporting surface."} +{"subtask_index": 1066, "subtask": "Left hand: idle: Left hand remains empty at the far left edge of the visible frame with no observable movement or finger posture change. | Right hand: transport: Right hand holds the lifted wooden mallet and moves it horizontally leftward to position the mallet directly over the light wooden peg board with green support posts."} +{"subtask_index": 1067, "subtask": "Left hand: idle: Left hand remains empty at the far left edge of the visible frame with no observable movement or finger posture change. | Right hand: hold: Right hand holds the wooden mallet with a stable grip, keeping the mallet stationary above the perforated wooden peg board."} +{"subtask_index": 1068, "subtask": "Left hand: idle: Left hand remains empty at the far left edge of the visible frame with no observable movement or finger posture change. | Right hand: press: Right hand moves the held wooden mallet vertically downward, pressing the yellow mallet head against the wooden peg on the board."} +{"subtask_index": 1069, "subtask": "Left hand: idle: Left hand remains empty at the far left edge of the visible frame with no observable movement or finger posture change. | Right hand: transport: Right hand moves the held wooden mallet vertically upward, lifting the yellow mallet head away from the wooden peg back to a raised position."} +{"subtask_index": 1070, "subtask": "Left hand: idle: Left hand remains empty at the far left edge of the visible frame with no observable movement or finger posture change. | Right hand: press: Right hand moves the held wooden mallet vertically downward again, pressing the yellow mallet head against the wooden peg on the board."} +{"subtask_index": 1071, "subtask": "Left hand: idle: Left hand remains empty at the far left edge of the visible frame with no observable movement or finger posture change. | Right hand: transport: Right hand moves the held wooden mallet vertically upward, lifting the yellow mallet head away from the wooden board at the end of the segment."} +{"subtask_index": 1072, "subtask": "Left hand: idle: Left hand remains empty at the far left edge of the visible frame with no observable movement or finger posture change. | Right hand: lift_transport: Right hand holds the wooden mallet, lifts it off the wooden toy base and moves it to the upper right area above the black work surface."} +{"subtask_index": 1073, "subtask": "Left hand: idle: Left hand remains empty at the far left edge of the visible frame with no observable movement or finger posture change. | Right hand: place_release: Right hand moves the wooden mallet downward to rest on the black work surface, opens fingers to release grip on the handle, and remains stationary beside the mallet with no visible movement."} +{"subtask_index": 1074, "subtask": "Left hand: idle: Left hand remains empty at the far left edge of the visible frame with no observable movement or finger posture change. | Right hand: idle: Right hand remains empty with fingers slightly extended near the placed yellow mallet on the black textured work surface, with no observable movement."} +{"subtask_index": 1075, "subtask": "Left hand: idle: Left hand remains empty at the far left edge of the visible frame with no observable movement or finger posture change. | Right hand: retreat: Right hand, empty with fingers slightly extended, moves upward and backward away from the placed yellow mallet on the black textured work surface."} +{"subtask_index": 1076, "subtask": "Left hand: idle: Left hand remains empty at the far left edge of the visible frame with no observable movement or finger posture change."} +{"subtask_index": 1077, "subtask": "Right hand: reach: Right hand moves leftward from the right edge of the frame toward the yellow-headed hammer with a wooden handle on the black mat."} +{"subtask_index": 1078, "subtask": "Right hand: grasp: Right hand grasps the wooden handle of the yellow hammer, with fingers closing around the handle to form a stable grip."} +{"subtask_index": 1079, "subtask": "Right hand: hold: Right hand holds the wooden handle of the yellow hammer on the black mat without any movement."} +{"subtask_index": 1080, "subtask": "Right hand: grasp: Right hand adjusts its grasp on the wooden handle of the yellow-headed hammer resting on the black table surface."} +{"subtask_index": 1081, "subtask": "Right hand: lift_transport: Right hand lifts the yellow-headed hammer off the black table surface and transports it leftward to the position above the red peg on the wooden pegboard."} +{"subtask_index": 1082, "subtask": "Right hand: place: Right hand lowers the hammer and places its yellow head onto the red peg on the wooden pegboard."} +{"subtask_index": 1083, "subtask": "Right hand: press: Right hand presses the red peg downward with the yellow hammer head, pushing the peg into the hole of the wooden pegboard."} +{"subtask_index": 1084, "subtask": "Right hand: lift_transport: Right hand lifts the hammer off the red peg and transports it downward in the frame to the position above the green peg on the wooden pegboard."} +{"subtask_index": 1085, "subtask": "Right hand: place: Right hand lowers the hammer and places its yellow head onto the green peg on the wooden pegboard."} +{"subtask_index": 1086, "subtask": "Right hand: press: Right hand presses the green peg downward with the yellow hammer head, pushing the peg into the hole of the wooden pegboard."} +{"subtask_index": 1087, "subtask": "Right hand: hold: Right hand holds the yellow-headed hammer pressed against the green peg on the wooden pegboard without moving."} +{"subtask_index": 1088, "subtask": "Right hand: press: Right hand continues pressing the green peg downward with the yellow hammer head to push it further into the pegboard."} +{"subtask_index": 1089, "subtask": "Right hand: lift_transport: Right hand lifts the yellow-headed hammer off the wooden stool and transports it rightward toward the right side of the table."} +{"subtask_index": 1090, "subtask": "Right hand: place_release: Right hand places the hammer onto the right black table surface and releases the hammer handle with opening fingers."} +{"subtask_index": 1091, "subtask": "Right hand: retreat: Right hand moves rightward toward the right edge of the frame, remaining empty during the movement."} +{"subtask_index": 1092, "subtask": "Right hand: reach: Right hand enters from the right edge of the frame and moves down left toward the yellow hammer with wooden handle on the black mat."} +{"subtask_index": 1093, "subtask": "Right hand: grasp: Right hand closes and adjusts its fingers to grasp the wooden handle of the yellow hammer on the black mat."} +{"subtask_index": 1094, "subtask": "Right hand: grasp: Right hand adjusts its fingers to form a stable grip on the wooden handle of the yellow hammer."} +{"subtask_index": 1095, "subtask": "Right hand: lift: Right hand lifts the yellow hammer upwards off the black table surface."} +{"subtask_index": 1096, "subtask": "Right hand: transport: Right hand carries the yellow hammer left towards the wooden peg board with green pegs."} +{"subtask_index": 1097, "subtask": "Right hand: press: Right hand holds the yellow-headed wooden hammer, presses down to hit the green peg on the wooden base."} +{"subtask_index": 1098, "subtask": "Right hand: hold: Right hand holds the hammer still above the green peg after the first hit."} +{"subtask_index": 1099, "subtask": "Right hand: press: Right hand presses the hammer down again to hit the green peg for the second time."} +{"subtask_index": 1100, "subtask": "Right hand: hold: Right hand holds the hammer still above the green peg after the second hit."} +{"subtask_index": 1101, "subtask": "Right hand: retreat: Right hand moves the hammer away from the wooden base."} +{"subtask_index": 1102, "subtask": "Right hand: place: Right hand places the hammer onto the right area of the black mat."} +{"subtask_index": 1103, "subtask": "Right hand: release: Right hand releases the hammer handle and separates from the hammer."} +{"subtask_index": 1104, "subtask": "Right hand: reach: Right hand enters from the right edge of the frame and moves leftward toward the objects on the black table."} +{"subtask_index": 1105, "subtask": "Right hand: reach: Right hand moves towards the wooden handle of the yellow hammer placed on the black mat."} +{"subtask_index": 1106, "subtask": "Right hand: grasp: Right hand closes its fingers around the wooden handle of the yellow hammer, making slight adjustments to stabilize the grip."} +{"subtask_index": 1107, "subtask": "Right hand: grasp: Right hand adjusts fingers to form a stable grasp on the yellow-headed hammer placed on the black mat."} +{"subtask_index": 1108, "subtask": "Right hand: lift: Right hand lifts the grasped hammer upward to separate it from the black mat."} +{"subtask_index": 1109, "subtask": "Right hand: transport: Right hand moves the held hammer leftward to the position above the red pin on the wooden board."} +{"subtask_index": 1110, "subtask": "Right hand: place_release: Right hand places the yellow hammer onto the black mat and releases its grip on the hammer."} +{"subtask_index": 1111, "subtask": "Right hand: retreat: Right hand retreats away from the placed yellow hammer."} +{"subtask_index": 1112, "subtask": "Right hand: reach: Right hand enters the frame from the top-right corner, moves downward toward the wooden handle of the yellow mallet with an open, empty hand."} +{"subtask_index": 1113, "subtask": "Right hand: grasp: Right hand makes contact with the wooden handle of the yellow mallet, fingers close and make slight adjustments to contact positions to form a secure grip."} +{"subtask_index": 1114, "subtask": "Right hand: hold: Right hand holds the wooden handle of the yellow mallet steadily, with no observable movement of the hand, fingers or the mallet."} +{"subtask_index": 1115, "subtask": "Right hand: lift: Right hand lifts the gripped yellow mallet upward, raising the mallet until it is completely separated from the black table surface."} +{"subtask_index": 1116, "subtask": "Right hand: transport: Right hand carries the fully lifted yellow mallet leftward across the table, moving it toward the centered wooden peg toy."} +{"subtask_index": 1117, "subtask": "Right hand: hold: Right hand holds the yellow mallet steady above the red peg on the wooden peg toy, with no observable movement of the hand or mallet."} +{"subtask_index": 1118, "subtask": "Right hand: grasp: Right hand adjusts finger positions around the wooden handle of the yellow mallet to form a stable grip."} +{"subtask_index": 1119, "subtask": "Right hand: reorient: Right hand holds the yellow mallet, making a slight rotational movement and small downward movement to adjust the mallet's orientation."} +{"subtask_index": 1120, "subtask": "Right hand: hold: Right hand holds the yellow mallet steadily, with no visible movement of the hand, fingers or the mallet."} +{"subtask_index": 1121, "subtask": "Right hand: reorient: Right hand holds the yellow mallet, making a slight rotational movement and small downward movement to adjust the mallet's posture."} +{"subtask_index": 1122, "subtask": "Right hand: lift: Right hand holds the wooden handle of the yellow-headed mallet and lifts it upward until the mallet completely leaves the wooden platform surface."} +{"subtask_index": 1123, "subtask": "Right hand: transport: Right hand carries the fully suspended yellow-headed mallet to move rightward and upward to the right side of the wooden platform."} +{"subtask_index": 1124, "subtask": "Right hand: release: Right hand moves slightly downward while opening its curled fingers to release grip on the wooden handle of the yellow mallet held above the black work surface."} +{"subtask_index": 1125, "subtask": "Right hand: retreat: Right hand moves upward and rightward empty-handed, retreating away from the position where the mallet was released."} +{"subtask_index": 1126, "subtask": "Right hand: reach: Right hand moves downward from the top right of the frame toward the yellow hammer with wooden handle on the black mat."} +{"subtask_index": 1127, "subtask": "Right hand: grasp: Right hand touches the wooden handle of the yellow hammer, fingers close and adjust to form a stable grasp on the handle."} +{"subtask_index": 1128, "subtask": "Right hand: grasp: Right hand adjusts fingers to grasp the wooden handle of the yellow hammer on the black mat to form a stable grip."} +{"subtask_index": 1129, "subtask": "Right hand: transport: Right hand transports the yellow hammer leftward toward the wooden peg board with green legs."} +{"subtask_index": 1130, "subtask": "Right hand: transport: Right hand transports the hammer with yellow head toward the green peg on the wooden board, adjusting the hammer's orientation to position the yellow head directly above the green peg."} +{"subtask_index": 1131, "subtask": "Right hand: hold: Right hand holds the hammer with yellow head steadily above the green peg on the wooden board without moving."} +{"subtask_index": 1132, "subtask": "Right hand: grasp: Right hand adjusts its grasp on the wooden handle of the hammer with slight finger movements."} +{"subtask_index": 1133, "subtask": "Right hand: transport: Right hand transports the hammer to move its yellow head above the red peg on the wooden base."} +{"subtask_index": 1134, "subtask": "Right hand: hold: Right hand holds the hammer stationary with the yellow head positioned above the red peg."} +{"subtask_index": 1135, "subtask": "Right hand: place: Right hand places the yellow hammer onto the black mat."} +{"subtask_index": 1136, "subtask": "Right hand: release: Right hand releases the yellow hammer on the black mat."} +{"subtask_index": 1137, "subtask": "Right hand: retreat: Right hand retreats rightward away from the yellow hammer."} +{"subtask_index": 1138, "subtask": "Right hand: grasp: Right hand enters from the right side of the frame and touches the yellow head of the hammer on the black mat."} +{"subtask_index": 1139, "subtask": "Right hand: reach: Right hand moves leftward from the right edge of the frame toward the yellow mallet with a wooden handle on the black textured mat."} +{"subtask_index": 1140, "subtask": "Right hand: grasp: Right hand grasps the wooden handle of the yellow mallet, with fingers closing and adjusting to form a stable grip while the mallet remains on the black mat."} +{"subtask_index": 1141, "subtask": "Right hand: lift: Right hand lifts the yellow mallet from the black mat on the right side of the wooden frame."} +{"subtask_index": 1142, "subtask": "Right hand: transport: Right hand transports the yellow mallet leftward and upward to the position above the top surface of the wooden frame."} +{"subtask_index": 1143, "subtask": "Right hand: place: Right hand places the yellow mallet down onto the top surface of the wooden frame."} +{"subtask_index": 1144, "subtask": "Right hand: hold: Right hand holds the yellow mallet on the top surface of the wooden frame without moving."} +{"subtask_index": 1145, "subtask": "Right hand: lift: Right hand lifts the yellow mallet by its wooden handle upward slightly."} +{"subtask_index": 1146, "subtask": "Right hand: press: Right hand presses the yellow mallet downward onto the wooden pegboard."} +{"subtask_index": 1147, "subtask": "Right hand: lift_transport: Right hand lifts the yellow mallet off the middle peg of the wooden board and transports it vertically upward."} +{"subtask_index": 1148, "subtask": "Right hand: transport_press: Right hand transports the yellow mallet vertically downward and presses it against the middle peg on the wooden board."} +{"subtask_index": 1149, "subtask": "Right hand: lift: Right hand lifts the wooden mallet with a yellow top slightly upward from the perforated wooden board."} +{"subtask_index": 1150, "subtask": "Right hand: press: Right hand presses the wooden mallet with a yellow top downward against the perforated wooden board."} +{"subtask_index": 1151, "subtask": "Right hand: hold: Right hand holds the wooden mallet with a yellow top pressed against the perforated wooden board without moving."} +{"subtask_index": 1152, "subtask": "Right hand: lift: Right hand lifts the yellow mallet upward away from the wooden toy."} +{"subtask_index": 1153, "subtask": "Right hand: transport: Right hand transports the yellow mallet rightward and slightly downward above the black mat."} +{"subtask_index": 1154, "subtask": "Right hand: place_release: Right hand places the yellow mallet on the right side of the black mat and releases its grasp on the mallet."} +{"subtask_index": 1155, "subtask": "Right hand: idle: Right hand remains empty beside the yellow mallet on the right black mat without moving."} +{"subtask_index": 1156, "subtask": "Right hand: retreat: Right hand moves rightward and exits the frame from the right edge while remaining empty."} +{"subtask_index": 1157, "subtask": "Right hand: reach_grasp: Right hand reaches from the right edge of the frame toward the yellow hammer on the right side of the black mat and touches the yellow hammer head."} +{"subtask_index": 1158, "subtask": "Right hand: reach: Right hand moves from the top right of the frame down left towards the yellow hammer on the black mat, without touching the hammer."} +{"subtask_index": 1159, "subtask": "Right hand: grasp: Right hand adjusts its fingers around the wooden handle of the yellow hammer to form a stable grasp, with the hammer remaining on the black mat."} +{"subtask_index": 1160, "subtask": "Right hand: lift: Right hand lifts the yellow hammer up to make it completely leave the black mat."} +{"subtask_index": 1161, "subtask": "Right hand: transport: Right hand carries the lifted yellow hammer towards the wooden peg toy on the black mat."} +{"subtask_index": 1162, "subtask": "Right hand: transport: Right hand transports the yellow hammer to the position directly above the green peg on the pegboard."} +{"subtask_index": 1163, "subtask": "Right hand: hold: Right hand holds the yellow hammer steady above the green peg on the pegboard without moving."} +{"subtask_index": 1164, "subtask": "Right hand: press: Right hand presses the green peg into the pegboard with the yellow hammer along the vertical direction."} +{"subtask_index": 1165, "subtask": "Right hand: transport: Right hand transports the yellow hammer upward away from the green peg on the pegboard."} +{"subtask_index": 1166, "subtask": "Right hand: grasp: Right hand grasps the wooden handle of the hammer, with fingers adjusting to form a stable grip."} +{"subtask_index": 1167, "subtask": "Right hand: hold: Right hand holds the hammer on the black mat without moving."} +{"subtask_index": 1168, "subtask": "Right hand: lift_transport: Right hand lifts the hammer off the black mat and transports it to the position above the red peg on the wooden base."} +{"subtask_index": 1169, "subtask": "Right hand: transport: Right hand transports the hammer with a yellow head and wooden handle towards the down-right direction above the black mat."} +{"subtask_index": 1170, "subtask": "Right hand: place_release: Right hand places the hammer onto the black mat surface and releases it by opening fingers to separate from the hammer handle."} +{"subtask_index": 1171, "subtask": "Right hand: idle: Right hand remains empty and stationary at the right side of the frame."} +{"subtask_index": 1172, "subtask": "Left hand: idle: Left hand does not appear in the visible frame area, with no detectable movement throughout the segment. | Right hand: idle: Right hand remains empty and stationary at the top-right edge of the frame."} +{"subtask_index": 1173, "subtask": "Left hand: idle: Left hand does not appear in the visible frame area, with no detectable movement throughout the segment. | Right hand: reach: Right hand moves empty downward from the top-right edge of the frame toward the wooden handle of the yellow-headed mallet."} +{"subtask_index": 1174, "subtask": "Left hand: idle: Left hand does not appear in the visible frame area, with no detectable movement throughout the segment. | Right hand: grasp: Right hand makes contact with the wooden handle of the yellow-headed mallet, closing fingers and adjusting contact positions to form a grasp."} +{"subtask_index": 1175, "subtask": "Left hand: idle: Left hand does not appear in the visible frame area, with no detectable movement throughout the segment. | Right hand: grasp: Right hand adjusts its fingers around the wooden mallet handle to stabilize the grasp, with the mallet resting stationary on the black work surface."} +{"subtask_index": 1176, "subtask": "Left hand: idle: Left hand does not appear in the visible frame area, with no detectable movement throughout the segment. | Right hand: lift: Right hand lifts the grasped wooden mallet upward, raising the mallet completely off the black work surface."} +{"subtask_index": 1177, "subtask": "Left hand: idle: Left hand does not appear in the visible frame area, with no detectable movement throughout the segment. | Right hand: transport: Right hand moves the grasped wooden mallet leftward and slightly upward to the position above the wooden peg board."} +{"subtask_index": 1178, "subtask": "Left hand: idle: Left hand does not appear in the visible frame area, with no detectable movement throughout the segment. | Right hand: hold: Right hand holds the wooden mallet steadily in position above the wooden peg board without observable movement."} +{"subtask_index": 1179, "subtask": "Left hand: idle: Left hand does not appear in the visible frame area, with no detectable movement throughout the segment. | Right hand: grasp: Right hand makes slight finger adjustments on the wooden mallet handle to form a stable grip, with no obvious movement of the mallet."} +{"subtask_index": 1180, "subtask": "Left hand: idle: Left hand does not appear in the visible frame area, with no detectable movement throughout the segment. | Right hand: press: Right hand holds the wooden mallet and moves it vertically downward to apply downward force on the underlying green peg with the yellow mallet head."} +{"subtask_index": 1181, "subtask": "Left hand: idle: Left hand does not appear in the visible frame area, with no detectable movement throughout the segment. | Right hand: grasp: Right hand makes subtle finger and wrist adjustments to form a stable grasp around the handle of the wooden mallet resting on the wooden peg board, with the mallet remaining fully supported by the peg board throughout this segment."} +{"subtask_index": 1182, "subtask": "Left hand: idle: Left hand does not appear in the visible frame area, with no detectable movement throughout the segment. | Right hand: lift: Right hand lifts the stably grasped wooden mallet upward, until the entire mallet is completely lifted off the surface of the wooden peg board."} +{"subtask_index": 1183, "subtask": "Left hand: idle: Left hand does not appear in the visible frame area, with no detectable movement throughout the segment. | Right hand: transport_release: Right hand carries the lifted wooden mallet rightward to the area above the right side of the black work surface, opening the fingers to release grip on the mallet handle upon reaching the position."} +{"subtask_index": 1184, "subtask": "Left hand: idle: Left hand does not appear in the visible frame area, with no detectable movement throughout the segment. | Right hand: release: Right hand opens its fingers to release the wooden mallet handle, allowing the mallet to fall onto the black textured work surface."} +{"subtask_index": 1185, "subtask": "Left hand: idle: Left hand does not appear in the visible frame area, with no detectable movement throughout the segment."} +{"subtask_index": 1186, "subtask": "Left hand: idle: Left hand is not visible within the frame throughout the segment, with no observed movement or contact with any object. | Right hand: idle: Right hand remains empty and stationary, with only its metallic fingertips visible at the top right edge of the frame."} +{"subtask_index": 1187, "subtask": "Left hand: idle: Left hand is not visible within the frame throughout the segment, with no observed movement or contact with any object. | Right hand: reach: Right hand moves downward from the top right edge toward the wooden handle of the yellow mallet, with fingers spread and no contact made with the mallet."} +{"subtask_index": 1188, "subtask": "Left hand: idle: Left hand is not visible within the frame throughout the segment, with no observed movement or contact with any object. | Right hand: grasp: Right hand closes its fingers around the wooden handle of the yellow mallet, adjusting finger positions to form a grasp, while the mallet stays on the black fabric support surface."} +{"subtask_index": 1189, "subtask": "Left hand: idle: Left hand is not visible within the frame throughout the segment, with no observed movement or contact with any object. | Right hand: grasp: Right hand gradually closes its fingers to form a stable grip on the wooden handle of the yellow hammer resting on the black work mat."} +{"subtask_index": 1190, "subtask": "Left hand: idle: Left hand is not visible within the frame throughout the segment, with no observed movement or contact with any object. | Right hand: lift_transport: Right hand lifts the yellow hammer completely off the black mat, moves it upward and leftward toward the wooden peg toy, rotates the wrist slightly to adjust the hammer's orientation."} +{"subtask_index": 1191, "subtask": "Left hand: idle: Left hand is not visible within the frame throughout the segment, with no observed movement or contact with any object. | Right hand: hold: Right hand holds the yellow hammer steadily above the wooden peg board without observable movement of the hand, fingers or the hammer."} +{"subtask_index": 1192, "subtask": "Left hand: idle: Left hand is not visible within the frame throughout the segment, with no observed movement or contact with any object. | Right hand: grasp: Right hand grips the wooden hammer handle, making continuous small positional adjustments to the hammer: fingers slightly adjust their contact points on the handle, and the wrist makes minor movements to shift the hammer slightly across the perforated wooden platform and black supporting surface."} +{"subtask_index": 1193, "subtask": "Left hand: idle: Left hand is not visible within the frame throughout the segment, with no observed movement or contact with any object. | Right hand: lift_transport: Right hand grips the wooden handle of the hammer, moves the hammer horizontally to the right side of the wooden platform, rotates the hammer about a quarter turn clockwise while moving, briefly lifts the hammer off the supporting surface during movement and sets it down on the black table surface at the target position."} +{"subtask_index": 1194, "subtask": "Left hand: idle: Left hand is not visible within the frame throughout the segment, with no observed movement or contact with any object. | Right hand: hold: Right hand remains in contact with the yellow head of the hammer, stays stationary together with the hammer placed on the right black table surface with no observable position or posture changes."} +{"subtask_index": 1195, "subtask": "Left hand: idle: Left hand is not visible within the frame throughout the segment, with no observed movement or contact with any object. | Right hand: retreat: Right hand moves upward and toward the top right edge of the frame with an empty hand, retreating from the position adjacent to the yellow hammer."} +{"subtask_index": 1196, "subtask": "Left hand: idle: Left hand is not visible within the frame throughout the segment, with no observed movement or contact with any object."} +{"subtask_index": 1197, "subtask": "Left hand: idle: Left hand remains empty at the left edge of the frame without any observable movement. | Right hand: idle: Right hand remains empty at the top right edge of the frame without any observable movement."} +{"subtask_index": 1198, "subtask": "Left hand: idle: Left hand remains empty at the left edge of the frame without any observable movement. | Right hand: reach: Right hand moves downward from the top right of the frame with slightly open fingers, approaching the wooden mallet placed on the right side of the black platform."} +{"subtask_index": 1199, "subtask": "Left hand: idle: Left hand remains empty at the left edge of the frame without any observable movement. | Right hand: grasp: Right hand closes fingers around the wooden handle of the mallet, making slight adjustments to finger positions to form a stable grasp while the mallet still rests on the platform."} +{"subtask_index": 1200, "subtask": "Left hand: idle: Left hand remains empty at the left edge of the frame without any observable movement. | Right hand: lift: Right hand lifts the grasped wooden mallet upward, separating the mallet from the surface of the black platform."} +{"subtask_index": 1201, "subtask": "Left hand: idle: Left hand remains empty at the left edge of the frame without any observable movement. | Right hand: transport: Right hand grips the wooden mallet and moves it leftward across the black mat toward the wooden peg toy, carrying the mallet from the right side of the frame to the area above the toy."} +{"subtask_index": 1202, "subtask": "Left hand: idle: Left hand remains empty at the left edge of the frame without any observable movement. | Right hand: mate: Right hand holds the wooden mallet, adjusts its angle slightly to align the yellow mallet head directly with the red peg on the wooden peg toy, positioning the head to rest on the peg."} +{"subtask_index": 1203, "subtask": "Left hand: idle: Left hand remains empty at the left edge of the frame without any observable movement. | Right hand: hold: Right hand holds the wooden mallet without noticeable movement, keeping the yellow mallet head aligned and resting on the red peg of the wooden toy."} +{"subtask_index": 1204, "subtask": "Left hand: idle: Left hand remains empty at the left edge of the frame without any observable movement. | Right hand: lift: Right hand holds the wooden mallet and lifts it upward slightly, raising the yellow mallet head away from the red peg on the wooden toy."} +{"subtask_index": 1205, "subtask": "Left hand: idle: Left hand remains empty at the left edge of the frame without any observable movement. | Right hand: grasp: Right hand adjusts finger positions on the wooden mallet handle, slightly tightening contact to establish a stable grip on the mallet."} +{"subtask_index": 1206, "subtask": "Left hand: idle: Left hand remains empty at the left edge of the frame without any observable movement. | Right hand: transport: Right hand holds the mallet with a stable grip, moving it slowly across the wooden peg base to position the yellow mallet head directly over the red peg."} +{"subtask_index": 1207, "subtask": "Left hand: idle: Left hand remains empty at the left edge of the frame without any observable movement. | Right hand: transport: Right hand holds the wooden mallet with a yellow head and moves it rightward through the air above the black mat."} +{"subtask_index": 1208, "subtask": "Left hand: idle: Left hand remains empty at the left edge of the frame without any observable movement. | Right hand: place_release: Right hand lowers the mallet down to the right area of the black mat, opens fingers to release the mallet as it rests steadily on the mat, the empty hand stays above the mallet without visible movement."} +{"subtask_index": 1209, "subtask": "Right hand: reach: Right hand enters from the top right of the frame and moves toward the yellow hammer placed on the black mat at the right side of the wooden toy."} +{"subtask_index": 1210, "subtask": "Right hand: grasp: Right hand makes contact with the wooden handle of the yellow hammer, fingers close and adjust to form a stable grip on the handle."} +{"subtask_index": 1211, "subtask": "Right hand: lift: Right hand lifts the yellow hammer slightly off the black mat surface after forming a stable grip."} +{"subtask_index": 1212, "subtask": "Right hand: grasp: Right hand adjusts its grasp on the yellow hammer with wooden handle on the black mat."} +{"subtask_index": 1213, "subtask": "Right hand: lift_transport: Right hand lifts the yellow hammer from the black mat and moves it above the wooden board with green support pillars."} +{"subtask_index": 1214, "subtask": "Right hand: other:strike: Right hand strikes the green peg on the wooden peg toy with the yellow-headed wooden hammer."} +{"subtask_index": 1215, "subtask": "Right hand: transport: Right hand lifts the yellow-headed wooden hammer upward away from the wooden peg toy."} +{"subtask_index": 1216, "subtask": "Right hand: other:strike: Right hand strikes the green peg on the wooden peg toy with the yellow-headed wooden hammer again."} +{"subtask_index": 1217, "subtask": "Right hand: transport: Right hand lifts the yellow-headed wooden hammer upward away from the wooden peg toy after striking."} +{"subtask_index": 1218, "subtask": "Right hand: lift: Right hand lifts the yellow hammer from the black mat surface."} +{"subtask_index": 1219, "subtask": "Right hand: transport: Right hand transports the yellow hammer towards the right side of the black mat."} +{"subtask_index": 1220, "subtask": "Right hand: place_release: Right hand places the yellow hammer onto the right side of the black mat, releases its grasp on the hammer handle, and stays motionless briefly."} +{"subtask_index": 1221, "subtask": "Right hand: reach: Right hand moves downward from the top-right edge toward the wooden handle of the yellow mallet resting on the black textured mat, with fingers extended."} +{"subtask_index": 1222, "subtask": "Right hand: grasp: Right hand closes fingers around the wooden handle of the yellow mallet, adjusting finger contact positions to form a stable grip while the mallet remains on the supporting mat."} +{"subtask_index": 1223, "subtask": "Right hand: lift: Right hand moves upward to lift the yellow mallet completely off the black textured mat, holding the wooden handle firmly."} +{"subtask_index": 1224, "subtask": "Right hand: lift: Right hand, which has already grasped the yellow wooden mallet, lifts the mallet upward until its bottom end completely leaves the black table surface."} +{"subtask_index": 1225, "subtask": "Right hand: transport: Right hand carries the grasped yellow mallet moving leftward toward the wooden peg board, rotating the mallet slightly to a vertical posture as it moves."} +{"subtask_index": 1226, "subtask": "Right hand: hold: Right hand holds the yellow mallet steadily above the red peg on the wooden board without visible movement or rotation."} +{"subtask_index": 1227, "subtask": "Right hand: grasp: Right hand makes small finger and wrist adjustments to stabilize its grip on the wooden mallet handle, with the yellow mallet head resting on the perforated wooden toy base."} +{"subtask_index": 1228, "subtask": "Right hand: lift_transport: Right hand holds the wooden mallet, lifts the yellow mallet head off the wooden toy base, and moves the mallet vertically upward for a small distance."} +{"subtask_index": 1229, "subtask": "Right hand: press: Right hand holds the wooden mallet, moves it vertically downward, and presses the yellow mallet head against the surface of the wooden toy base."} +{"subtask_index": 1230, "subtask": "Right hand: lift_transport: Right hand holds the wooden mallet, lifts the yellow mallet head off the wooden toy base again, moves the mallet vertically upward for a small distance, and makes a slight wrist rotation to adjust the mallet head angle."} +{"subtask_index": 1231, "subtask": "Right hand: press: Right hand holds the wooden mallet, moves it vertically downward, and presses the yellow mallet head back onto the surface of the wooden toy base."} +{"subtask_index": 1232, "subtask": "Right hand: lift: Right hand grips the wooden handle of the yellow mallet and lifts it upward, completely separating the mallet from the wooden peg toy surface."} +{"subtask_index": 1233, "subtask": "Right hand: transport: Right hand carries the lifted yellow mallet and moves it horizontally rightward across the black textured mat."} +{"subtask_index": 1234, "subtask": "Right hand: place_release: Right hand lowers the yellow mallet onto the black mat until the mallet rests stably on the surface, fingers opening to release the mallet handle."} +{"subtask_index": 1235, "subtask": "Right hand: retreat: Right hand, now empty, moves upward and rightward away from the placed mallet until it exits the visible frame area."} +{"subtask_index": 1236, "subtask": "Right hand: reach: Right hand moves downward from the upper right area toward the wooden handle of the yellow-headed mallet, with fingers slightly spread, making no contact with the mallet during this movement."} +{"subtask_index": 1237, "subtask": "Right hand: grasp: Right hand closes fingers around the wooden handle of the yellow-headed mallet, making small finger and wrist adjustments to form a stable grip while the mallet remains resting on the black fabric surface."} +{"subtask_index": 1238, "subtask": "Right hand: lift: Right hand lifts the grasped yellow-headed mallet upward, gradually raising the mallet until it is fully separated from the black fabric support surface."} +{"subtask_index": 1239, "subtask": "Right hand: transport: Right hand carries the fully lifted yellow-headed mallet leftward across the black surface, moving the mallet to a position directly above the red peg on the wooden peg toy without touching the peg."} +{"subtask_index": 1240, "subtask": "Right hand: press: Right hand moves the yellow-headed mallet vertically downward, pressing the mallet head against the top surface of the red peg to apply downward pressure."} +{"subtask_index": 1241, "subtask": "Right hand: grasp: Right hand adjusts its grip on the wooden mallet handle with slight finger movements, slightly rotates the wrist to align the yellow mallet head with the red peg on the pegboard."} +{"subtask_index": 1242, "subtask": "Right hand: press: Right hand moves vertically downward, pressing the yellow mallet head against the red peg to apply downward pressure, pushing the red peg to protrude from the pegboard surface."} +{"subtask_index": 1243, "subtask": "Right hand: lift_transport: Right hand grips the mallet handle, lifts the yellow mallet head off the red peg, transports the mallet upward and slightly rightward to the position above the center hole of the pegboard."} +{"subtask_index": 1244, "subtask": "Right hand: transport: Right hand holds the mallet handle, moves the mallet vertically downward toward the center hole on the pegboard, keeping the yellow mallet head aligned with the hole."} +{"subtask_index": 1245, "subtask": "Right hand: lift: Right hand grips the wooden mallet handle and lifts the mallet upward, fully separating the yellow mallet head from the wooden platform and the yellow peg on it."} +{"subtask_index": 1246, "subtask": "Right hand: transport: Right hand holds the mallet and moves it rightward through the air to the area above the right section of the black work surface."} +{"subtask_index": 1247, "subtask": "Right hand: place_release: Right hand lowers the mallet until its yellow head and wooden handle rest on the black work surface, opening its fingers to release grip on the mallet handle."} +{"subtask_index": 1248, "subtask": "Right hand: retreat: Right hand moves empty upward and rightward away from the mallet resting on the work surface."} +{"subtask_index": 1249, "subtask": "Left hand: idle: Left hand remains empty and stationary at the top-left edge of the frame. | Right hand: idle: Right hand remains empty and stationary at the top-right edge of the frame."} +{"subtask_index": 1250, "subtask": "Left hand: idle: Left hand remains empty and stationary at the top-left edge of the frame. | Right hand: reach: Right hand moves downward and leftward toward the wooden handle of the yellow mallet on the black textured mat, with fingers slightly open."} +{"subtask_index": 1251, "subtask": "Left hand: idle: Left hand remains empty and stationary at the top-left edge of the frame. | Right hand: grasp: Right hand contacts the wooden mallet handle, closes fingers around the handle, and adjusts finger and wrist positions to form a stable grasp, with the mallet resting on the mat."} +{"subtask_index": 1252, "subtask": "Left hand: idle: Left hand remains empty and stationary at the top-left edge of the frame. | Right hand: lift: Right hand grips the mallet handle and moves upward to lift the mallet, partially raising the mallet off the black mat surface."} +{"subtask_index": 1253, "subtask": "Left hand: idle: Left hand remains empty and stationary at the top-left edge of the frame. | Right hand: grasp: Right hand closes and adjusts fingers around the wooden hammer handle to form a stable grip, with the hammer resting on the black work mat."} +{"subtask_index": 1254, "subtask": "Left hand: idle: Left hand remains empty and stationary at the top-left edge of the frame. | Right hand: lift: Right hand lifts the grasped wooden hammer upward until the entire hammer, including the lower end of the handle, is fully raised off the black work mat."} +{"subtask_index": 1255, "subtask": "Left hand: idle: Left hand remains empty and stationary at the top-left edge of the frame. | Right hand: transport_place: Right hand carries the lifted hammer leftward toward the wooden peg board, rotates the wrist slightly to orient the yellow hammer head downward, and lowers the hammer head to rest on the red peg on the board."} +{"subtask_index": 1256, "subtask": "Left hand: idle: Left hand remains empty and stationary at the top-left edge of the frame. | Right hand: hold: Right hand holds the wooden hammer steady with the yellow hammer head positioned on the red peg, with no visible movement of the hand or hammer."} +{"subtask_index": 1257, "subtask": "Left hand: idle: Left hand remains empty and stationary at the top-left edge of the frame. | Right hand: grasp: Right hand adjusts its fingers and wrist slightly around the wooden mallet handle to establish a stable grip."} +{"subtask_index": 1258, "subtask": "Left hand: idle: Left hand remains empty and stationary at the top-left edge of the frame. | Right hand: transport: Right hand holds the wooden mallet and moves the yellow mallet head across the wooden peg board to position it above the red peg."} +{"subtask_index": 1259, "subtask": "Left hand: idle: Left hand remains empty and stationary at the top-left edge of the frame. | Right hand: press: Right hand applies downward force on the wooden mallet to press the red peg into the wooden board."} +{"subtask_index": 1260, "subtask": "Left hand: idle: Left hand remains empty and stationary at the top-left edge of the frame. | Right hand: hold: Right hand holds the wooden mallet steady on the red peg without any observable movement of the hand, fingers or mallet."} +{"subtask_index": 1261, "subtask": "Left hand: idle: Left hand remains empty and stationary at the top-left edge of the frame. | Right hand: grasp: Right hand adjusts finger positions around the wooden hammer handle to form a stable grasp, with the hammer resting on the wooden peg base."} +{"subtask_index": 1262, "subtask": "Left hand: idle: Left hand remains empty and stationary at the top-left edge of the frame. | Right hand: lift: Right hand lifts the grasped wooden hammer upward, fully separating the hammer from the wooden peg base surface."} +{"subtask_index": 1263, "subtask": "Left hand: idle: Left hand remains empty and stationary at the top-left edge of the frame. | Right hand: transport: Right hand carries the lifted wooden hammer, moving it horizontally toward the right side of the black work surface."} +{"subtask_index": 1264, "subtask": "Left hand: idle: Left hand remains empty and stationary at the top-left edge of the frame. | Right hand: place_release: Right hand lowers the wooden hammer onto the right side of the black work surface until the hammer is supported by the surface, opening fingers to release grasp on the hammer handle."} +{"subtask_index": 1265, "subtask": "Left hand: idle: Left hand remains empty and stationary at the top-left edge of the frame. | Right hand: retreat: Right hand moves empty upward and away from the placed wooden hammer on the work surface."} +{"subtask_index": 1266, "subtask": "Left hand: idle: Left hand remains empty and stationary at the top-left edge of the frame."} +{"subtask_index": 1267, "subtask": "Right hand: reach: Right hand moves from the top right of the frame towards the yellow hammer placed on the right side of the wooden peg board."} +{"subtask_index": 1268, "subtask": "Right hand: grasp: Right hand adjusts its fingers to form a stable grasp on the yellow hammer with wooden handle placed on the black mat."} +{"subtask_index": 1269, "subtask": "Right hand: transport: Right hand transports the yellow hammer leftward toward the red peg on the wooden board with green legs."} +{"subtask_index": 1270, "subtask": "Right hand: transport: Right hand transports the yellow hammer to the position above the red peg on the wooden board."} +{"subtask_index": 1271, "subtask": "Right hand: press: Right hand presses the red peg into the wooden board with the yellow hammer."} +{"subtask_index": 1272, "subtask": "Right hand: transport: Right hand transports the yellow hammer upward away from the red peg."} +{"subtask_index": 1273, "subtask": "Right hand: transport: Right hand transports the yellow hammer towards the right side of the wooden platform."} +{"subtask_index": 1274, "subtask": "Right hand: place: Right hand places the yellow hammer onto the black mat surface."} +{"subtask_index": 1275, "subtask": "Right hand: release: Right hand releases the yellow hammer, fingers open to disconnect from the hammer handle."} +{"subtask_index": 1276, "subtask": "Right hand: reach_grasp: Right hand enters from the right side, reaches toward and grasps the yellow hammer on the right area of the black mat."} +{"subtask_index": 1277, "subtask": "Right hand: transport: Right hand holds the yellow hammer and moves it leftward along the black mat surface."} +{"subtask_index": 1278, "subtask": "Left hand: idle: Left hand remains empty at the far left edge of the frame or out of view, with no observable movement or object interaction. | Right hand: idle: Right hand remains empty just out of view or at the top-right edge of the frame, with no observable movement."} +{"subtask_index": 1279, "subtask": "Left hand: idle: Left hand remains empty at the far left edge of the frame or out of view, with no observable movement or object interaction. | Right hand: reach: Right hand moves down and left from the top-right edge toward the wooden handle of the yellow hammer, with fingers slightly open and no contact with any object."} +{"subtask_index": 1280, "subtask": "Left hand: idle: Left hand remains empty at the far left edge of the frame or out of view, with no observable movement or object interaction. | Right hand: grasp: Right hand makes contact with the wooden handle of the yellow hammer, adjusts finger positions, and closes fingers around the handle to form a stable grip while the hammer stays on the work surface."} +{"subtask_index": 1281, "subtask": "Left hand: idle: Left hand remains empty at the far left edge of the frame or out of view, with no observable movement or object interaction. | Right hand: hold: Right hand holds the wooden handle of the yellow hammer steadily, with no observable movement of the hand, fingers, or hammer while the hammer rests on the black work surface."} +{"subtask_index": 1282, "subtask": "Left hand: idle: Left hand remains empty at the far left edge of the frame or out of view, with no observable movement or object interaction. | Right hand: transport: Right hand grips the wooden-handled yellow hammer and transports it leftward across the black mat toward the central wooden peg toy."} +{"subtask_index": 1283, "subtask": "Left hand: idle: Left hand remains empty at the far left edge of the frame or out of view, with no observable movement or object interaction. | Right hand: grasp: Right hand makes slight finger and wrist adjustments to stabilize its grip on the hammer handle while positioning the hammer above the central wooden peg toy."} +{"subtask_index": 1284, "subtask": "Left hand: idle: Left hand remains empty at the far left edge of the frame or out of view, with no observable movement or object interaction. | Right hand: grasp: Right hand adjusts finger positions on the light wooden hammer handle to establish a stable grip on the hammer."} +{"subtask_index": 1285, "subtask": "Left hand: idle: Left hand remains empty at the far left edge of the frame or out of view, with no observable movement or object interaction. | Right hand: press: Right hand holds the hammer steadily and applies downward vertical pressure, pushing the yellow hammer head against the red peg on the perforated wooden platform until the peg is pressed down."} +{"subtask_index": 1286, "subtask": "Left hand: idle: Left hand remains empty at the far left edge of the frame or out of view, with no observable movement or object interaction. | Right hand: hold: Right hand holds the hammer stationary with the yellow hammer head resting on the pressed peg, with no visible movement of the hand or hammer."} +{"subtask_index": 1287, "subtask": "Left hand: idle: Left hand remains empty at the far left edge of the frame or out of view, with no observable movement or object interaction. | Right hand: lift: Right hand moves upward while gripping the hammer handle, lifting the yellow hammer head completely away from the surface of the perforated wooden platform."} +{"subtask_index": 1288, "subtask": "Left hand: idle: Left hand remains empty at the far left edge of the frame or out of view, with no observable movement or object interaction. | Right hand: lift_transport: Right hand grips the wooden hammer, lifts it off the wooden peg board and moves it rightward to the area above the black work surface."} +{"subtask_index": 1289, "subtask": "Left hand: idle: Left hand remains empty at the far left edge of the frame or out of view, with no observable movement or object interaction. | Right hand: place_release: Right hand lowers the wooden hammer onto the black work surface, releases its grip on the wooden handle and separates from the hammer."} +{"subtask_index": 1290, "subtask": "Left hand: idle: Left hand remains empty at the far left edge of the frame or out of view, with no observable movement or object interaction. | Right hand: retreat: Right hand moves empty in an upward-right direction away from the placed hammer."} +{"subtask_index": 1291, "subtask": "Left hand: idle: Left hand remains empty at the far left edge of the frame or out of view, with no observable movement or object interaction."} +{"subtask_index": 1292, "subtask": "Right hand: reach: Right hand moves down and left from the top-right edge of the frame with an open hand, approaching the wooden handle of the yellow mallet placed on the black mat."} +{"subtask_index": 1293, "subtask": "Right hand: grasp: Right hand closes fingers around the wooden handle of the yellow mallet, adjusting finger and wrist positions slightly to form a stable grasp, with the mallet remaining resting on the black mat."} +{"subtask_index": 1294, "subtask": "Right hand: lift: Right hand lifts the stably grasped yellow mallet upward, raising the entire mallet completely off the black supporting mat."} +{"subtask_index": 1295, "subtask": "Right hand: transport: Right hand carries the grasped yellow mallet leftward through the air, rotating the mallet about a quarter turn to point the yellow hammerhead straight downward, moving the mallet to a position directly above the red peg on the central wooden platform."} +{"subtask_index": 1296, "subtask": "Right hand: lift: Right hand holds the wooden-handled hammer, lifts the hammer upward until the bottom end of the wooden handle completely leaves the black supporting surface."} +{"subtask_index": 1297, "subtask": "Right hand: transport: Right hand carries the lifted hammer to move slightly downward and leftward in the air, adjusting the hammer's position above the wooden block."} +{"subtask_index": 1298, "subtask": "Right hand: press: Right hand moves the held hammer vertically downward, applying steady downward pressure with the yellow hammer head against the peg on the wooden block."} +{"subtask_index": 1299, "subtask": "Right hand: hold: Right hand holds the wooden-handled hammer stationary, keeping the hammer in contact with the peg on the wooden block with no visible movement."} +{"subtask_index": 1300, "subtask": "Right hand: lift: Right hand grips the wooden hammer handle and lifts the hammer upward, fully separating it from the wooden peg board base by the end of the segment."} +{"subtask_index": 1301, "subtask": "Right hand: transport: Right hand carries the lifted wooden hammer and moves it horizontally rightward across the black work surface."} +{"subtask_index": 1302, "subtask": "Right hand: place: Right hand lowers the wooden hammer downward until the hammer rests steadily on the right area of the black work surface, still holding the handle."} +{"subtask_index": 1303, "subtask": "Right hand: release: Right hand opens its fingers to release the grip on the wooden hammer handle, separating from the hammer by the end of the segment."} +{"subtask_index": 1304, "subtask": "Right hand: retreat: Right hand moves empty in an upward-right direction away from the placed wooden hammer."} +{"subtask_index": 1305, "subtask": "Left hand: idle: Left hand remains empty throughout the segment, with no observable continuous movement; stationary fingers are visible at the left frame edge in early frames before the hand moves out of active view. | Right hand: idle: Right hand remains empty and out of the main visible frame area with no observable movement before beginning to approach the mallet."} +{"subtask_index": 1306, "subtask": "Left hand: idle: Left hand remains empty throughout the segment, with no observable continuous movement; stationary fingers are visible at the left frame edge in early frames before the hand moves out of active view. | Right hand: reach: Right hand moves downward diagonally from the top-right frame edge toward the wooden handle of the yellow mallet, held with fingers slightly open while approaching the target."} +{"subtask_index": 1307, "subtask": "Left hand: idle: Left hand remains empty throughout the segment, with no observable continuous movement; stationary fingers are visible at the left frame edge in early frames before the hand moves out of active view. | Right hand: grasp: Right hand makes contact with the wooden handle of the yellow mallet, closes fingers around the handle, and performs small adjustments to finger and wrist position to establish a stable grip, with the mallet head remaining on the work surface."} +{"subtask_index": 1308, "subtask": "Left hand: idle: Left hand remains empty throughout the segment, with no observable continuous movement; stationary fingers are visible at the left frame edge in early frames before the hand moves out of active view. | Right hand: lift_transport: Right hand grips the wooden handle of the yellow mallet, lifts the mallet completely off the black supporting surface, and transports it leftward through the air toward the wooden peg platform."} +{"subtask_index": 1309, "subtask": "Left hand: idle: Left hand remains empty throughout the segment, with no observable continuous movement; stationary fingers are visible at the left frame edge in early frames before the hand moves out of active view. | Right hand: place: Right hand lowers the yellow mallet, setting the yellow mallet head on the top surface of the wooden peg platform and the distal end of the wooden handle on the black supporting surface."} +{"subtask_index": 1310, "subtask": "Left hand: idle: Left hand remains empty throughout the segment, with no observable continuous movement; stationary fingers are visible at the left frame edge in early frames before the hand moves out of active view. | Right hand: grasp: Right hand makes small adjustments to finger positions on the wooden handle and slight repositioning movements of the wrist to stabilize the grip on the yellow mallet."} +{"subtask_index": 1311, "subtask": "Left hand: idle: Left hand remains empty throughout the segment, with no observable continuous movement; stationary fingers are visible at the left frame edge in early frames before the hand moves out of active view. | Right hand: hold: Right hand holds the stably positioned yellow mallet without any observable movement of the hand, fingers, wrist or the mallet."} +{"subtask_index": 1312, "subtask": "Left hand: idle: Left hand remains empty throughout the segment, with no observable continuous movement; stationary fingers are visible at the left frame edge in early frames before the hand moves out of active view. | Right hand: press: Right hand adjusts finger positions on the wooden mallet handle, moves the mallet to apply downward pressure on the yellow peg on the wooden pegboard."} +{"subtask_index": 1313, "subtask": "Left hand: idle: Left hand remains empty throughout the segment, with no observable continuous movement; stationary fingers are visible at the left frame edge in early frames before the hand moves out of active view. | Right hand: hold: Right hand holds the wooden mallet in position against the yellow peg on the wooden pegboard without observable movement."} +{"subtask_index": 1314, "subtask": "Left hand: idle: Left hand remains empty throughout the segment, with no observable continuous movement; stationary fingers are visible at the left frame edge in early frames before the hand moves out of active view. | Right hand: lift: Right hand holds the wooden mallet with a yellow cylindrical head, lifting it upward to fully separate it from the light brown wooden peg toy below."} +{"subtask_index": 1315, "subtask": "Left hand: idle: Left hand remains empty throughout the segment, with no observable continuous movement; stationary fingers are visible at the left frame edge in early frames before the hand moves out of active view. | Right hand: transport: Right hand carries the grasped mallet rightward through the air, rotating it roughly 90 degrees clockwise to a horizontal orientation as it approaches the black mat surface to the right of the peg toy."} +{"subtask_index": 1316, "subtask": "Left hand: idle: Left hand remains empty throughout the segment, with no observable continuous movement; stationary fingers are visible at the left frame edge in early frames before the hand moves out of active view. | Right hand: place: Right hand lowers the horizontal mallet down to the black mat, resting the yellow mallet head stably on the mat surface while maintaining grip on the wooden handle."} +{"subtask_index": 1317, "subtask": "Left hand: idle: Left hand remains empty throughout the segment, with no observable continuous movement; stationary fingers are visible at the left frame edge in early frames before the hand moves out of active view. | Right hand: release: Right hand opens its metal fingers to release the mallet handle, separating from the mallet which remains resting on the black mat."} +{"subtask_index": 1318, "subtask": "Left hand: idle: Left hand remains empty throughout the segment, with no observable continuous movement; stationary fingers are visible at the left frame edge in early frames before the hand moves out of active view."} +{"subtask_index": 1319, "subtask": "Right hand: reach: Right hand moves empty from the top right of the frame down left toward the yellow hammer on the black mat."} +{"subtask_index": 1320, "subtask": "Right hand: grasp: Right hand closes its fingers around the wooden handle of the yellow hammer to establish a stable grasp, with the hammer remaining on the black mat."} +{"subtask_index": 1321, "subtask": "Right hand: grasp: Right hand adjusts its fingers to form a stable grasp on the wooden handle of the yellow hammer placed on the black mat."} +{"subtask_index": 1322, "subtask": "Right hand: lift: Right hand lifts the yellow hammer upward until it completely leaves the black supporting mat."} +{"subtask_index": 1323, "subtask": "Right hand: transport: Right hand transports the yellow hammer leftward to the position above the green peg on the wooden toy."} +{"subtask_index": 1324, "subtask": "Right hand: hold: Right hand holds the yellow hammer stationary above the green peg on the wooden toy without any movement."} +{"subtask_index": 1325, "subtask": "Right hand: press: Right hand presses the yellow hammer downward to hit the red peg on the wooden toy."} +{"subtask_index": 1326, "subtask": "Right hand: transport: Right hand transports the yellow hammer upward to lift it away from the wooden toy surface."} +{"subtask_index": 1327, "subtask": "Right hand: press: Right hand presses the yellow hammer downward to hit the green peg on the wooden toy."} +{"subtask_index": 1328, "subtask": "Right hand: grasp: Right hand adjusts its grasp on the wooden hammer with yellow head."} +{"subtask_index": 1329, "subtask": "Right hand: transport: Right hand transports the wooden hammer with yellow head to the position above the red peg on the wooden toy."} +{"subtask_index": 1330, "subtask": "Right hand: press: Right hand presses the wooden hammer down to hit the red peg on the wooden toy."} +{"subtask_index": 1331, "subtask": "Right hand: transport: Right hand transports the wooden hammer with yellow head towards the right side of the wooden board."} +{"subtask_index": 1332, "subtask": "Right hand: place: Right hand places the hammer onto the black mat at the right side of the wooden board."} +{"subtask_index": 1333, "subtask": "Right hand: release: Right hand opens fingers to release the hammer handle and separates from the hammer."} +{"subtask_index": 1334, "subtask": "Right hand: retreat: Right hand moves toward the top right direction and exits the visible frame."} +{"subtask_index": 1335, "subtask": "Left hand: idle: Left hand remains empty at the left edge of the frame without moving. | Right hand: idle: Right hand remains empty at the upper right edge of the frame without moving."} +{"subtask_index": 1336, "subtask": "Left hand: idle: Left hand remains empty at the left edge of the frame without moving. | Right hand: reach: Right hand moves downward toward the wooden handle of the yellow-headed mallet on the right side of the black work surface, with fingers held slightly open."} +{"subtask_index": 1337, "subtask": "Left hand: idle: Left hand remains empty at the left edge of the frame without moving. | Right hand: grasp: Right hand closes fingers around the wooden handle of the mallet, making small contact adjustments to form a stable grip while the mallet remains supported by the work surface."} +{"subtask_index": 1338, "subtask": "Left hand: idle: Left hand remains empty at the left edge of the frame without moving. | Right hand: lift: Right hand holds the mallet handle and begins lifting the mallet upward from the work surface."} +{"subtask_index": 1339, "subtask": "Left hand: idle: Left hand remains empty at the left edge of the frame without moving. | Right hand: grasp: Right hand adjusts finger positions around the wooden handle of the yellow-headed mallet on the black mat, closing fingers to form a stable grip."} +{"subtask_index": 1340, "subtask": "Left hand: idle: Left hand remains empty at the left edge of the frame without moving. | Right hand: lift: Right hand lifts the stably grasped yellow-headed mallet upward, raising the wooden handle completely off the black supporting mat."} +{"subtask_index": 1341, "subtask": "Left hand: idle: Left hand remains empty at the left edge of the frame without moving. | Right hand: transport: Right hand transports the lifted yellow-headed mallet leftward through the air toward the central wooden pegboard with green posts."} +{"subtask_index": 1342, "subtask": "Left hand: idle: Left hand remains empty at the left edge of the frame without moving. | Right hand: place: Right hand lowers the yellow-headed mallet downward until the mallet is supported by the wooden pegboard."} +{"subtask_index": 1343, "subtask": "Left hand: idle: Left hand remains empty at the left edge of the frame without moving. | Right hand: hold: Right hand holds the yellow-headed mallet steady in position on the wooden pegboard without any visible movement of the hand or mallet."} +{"subtask_index": 1344, "subtask": "Left hand: idle: Left hand remains empty at the left edge of the frame without moving. | Right hand: grasp: Right hand adjusts finger contact positions on the wooden hammer handle and slightly rotates the wrist to reposition the hammer, making small grip adjustments to stabilize hold of the tool."} +{"subtask_index": 1345, "subtask": "Left hand: idle: Left hand remains empty at the left edge of the frame without moving. | Right hand: lift: Right hand holds the wooden mallet and lifts it upward, completely detaching the mallet from the wooden pegboard support."} +{"subtask_index": 1346, "subtask": "Left hand: idle: Left hand remains empty at the left edge of the frame without moving. | Right hand: transport: Right hand carries the detached wooden mallet, moving it horizontally to the right toward the black work surface beside the pegboard."} +{"subtask_index": 1347, "subtask": "Left hand: idle: Left hand remains empty at the left edge of the frame without moving. | Right hand: place_release: Right hand lowers the wooden mallet onto the right black work surface until the mallet rests stably, opens fingers to release grip on the mallet, and separates the hand from the mallet."} +{"subtask_index": 1348, "subtask": "Left hand: idle: Left hand remains empty at the left edge of the frame without moving. | Right hand: retreat: Right hand moves upward and to the right, retreating empty away from the wooden mallet placed on the work surface."} +{"subtask_index": 1349, "subtask": "Right hand: reach: Right hand moves down and left from the top right of the frame toward the yellow hammer with a wooden handle on the black mat, with fingers slightly open."} +{"subtask_index": 1350, "subtask": "Right hand: grasp: Right hand closes its fingers around the wooden handle of the yellow hammer and makes slight adjustments to stabilize the grasp."} +{"subtask_index": 1351, "subtask": "Right hand: grasp: Right hand grasps the wooden handle of the yellow mallet on the black mat, with fingers adjusting to form a stable grip."} +{"subtask_index": 1352, "subtask": "Right hand: lift: Right hand lifts the yellow mallet from the black mat until the mallet completely leaves the supporting surface."} +{"subtask_index": 1353, "subtask": "Right hand: transport: Right hand carries the yellow mallet and moves it upward and leftward to the position above the wooden pegboard."} +{"subtask_index": 1354, "subtask": "Right hand: grasp: Right hand adjusts its grasp on the wooden mallet with a yellow head, aligning the mallet head with the green peg on the perforated wooden board."} +{"subtask_index": 1355, "subtask": "Right hand: lift: Right hand lifts the yellow-headed mallet upward, moving the mallet head away from the green peg on the wooden board."} +{"subtask_index": 1356, "subtask": "Right hand: press: Right hand presses the yellow-headed mallet downward against the green peg, striking the peg into the hole of the wooden board."} +{"subtask_index": 1357, "subtask": "Right hand: lift: Right hand lifts the yellow-headed mallet upward again, moving the mallet head away from the green peg."} +{"subtask_index": 1358, "subtask": "Right hand: press: Right hand presses the yellow-headed mallet downward against the green peg, driving the peg further into the wooden board."} +{"subtask_index": 1359, "subtask": "Right hand: lift: Right hand lifts the yellow-headed mallet upward, moving the mallet head completely away from the wooden board and holding it in a raised position."} +{"subtask_index": 1360, "subtask": "Right hand: transport: Right hand transports the yellow mallet downward and rightward, rotating it from a vertical orientation to a near-horizontal orientation."} +{"subtask_index": 1361, "subtask": "Right hand: place: Right hand places the yellow mallet onto the black textured ground until the mallet is fully supported by the ground."} +{"subtask_index": 1362, "subtask": "Right hand: release: Right hand releases the yellow mallet by opening its fingers, fully separating from the mallet handle."} +{"subtask_index": 1363, "subtask": "Right hand: retreat: Right hand retreats upward and rightward, moving away from the yellow mallet on the ground."} +{"subtask_index": 1364, "subtask": "Right hand: reach: Right hand enters the frame from the top right, moving downward with an empty hand."} +{"subtask_index": 1365, "subtask": "Right hand: reach: Right hand enters the frame from the top-right corner, moves downward toward the wooden handle of the yellow mallet on the black work surface, with fingers slightly extended while remaining empty."} +{"subtask_index": 1366, "subtask": "Right hand: grasp: Right hand makes contact with the wooden handle of the yellow mallet, gradually closes fingers around the handle and adjusts contact position to form a grip, while the mallet remains resting on the black work surface."} +{"subtask_index": 1367, "subtask": "Right hand: grasp: Right hand adjusts fingers around the wooden mallet handle on the black work surface to form a stable grasp."} +{"subtask_index": 1368, "subtask": "Right hand: lift: Right hand lifts the grasped wooden mallet upward, fully separating the mallet from the black supporting surface."} +{"subtask_index": 1369, "subtask": "Right hand: transport: Right hand moves the grasped wooden mallet leftward toward the wooden peg board, positioning the yellow mallet head over the red peg."} +{"subtask_index": 1370, "subtask": "Right hand: hold: Right hand holds the wooden mallet steady over the wooden peg board without visible movement or hand shape adjustment."} +{"subtask_index": 1371, "subtask": "Right hand: grasp: Right hand adjusts its fingers around the wooden mallet handle with slight finger movements to stabilize the grip."} +{"subtask_index": 1372, "subtask": "Right hand: hold: Right hand holds the wooden mallet steadily, with the mallet head resting on the wooden peg of the wooden toy base without movement."} +{"subtask_index": 1373, "subtask": "Right hand: lift_transport: Right hand lifts the wooden mallet off the wooden peg and transports it upward to the position directly above the peg."} +{"subtask_index": 1374, "subtask": "Right hand: reorient: Right hand slightly rotates the wrist to adjust the orientation of the wooden mallet, aligning the mallet head vertically over the wooden peg."} +{"subtask_index": 1375, "subtask": "Right hand: transport_press: Right hand moves the aligned wooden mallet vertically downward and presses the mallet head onto the wooden peg to apply downward striking force."} +{"subtask_index": 1376, "subtask": "Right hand: lift: Right hand lifts the wooden mallet upward again, moving the mallet head away from the wooden peg after the strike."} +{"subtask_index": 1377, "subtask": "Right hand: lift_transport: Right hand holds the wooden mallet, lifts it clear of the black work surface and the wooden peg toy, moving it to the right upper area of the work surface."} +{"subtask_index": 1378, "subtask": "Right hand: place_release: Right hand lowers the wooden mallet toward the black work surface, opening fingers to release the mallet so it rests flat on the surface."} +{"subtask_index": 1379, "subtask": "Right hand: retreat: Right hand moves upward away from the resting mallet, remaining empty with fingers slightly spread."} +{"subtask_index": 1380, "subtask": "Right hand: retreat: Right hand is empty and moves upward to retreat out of the frame through the top-right edge."} +{"subtask_index": 1381, "subtask": "Right hand: reach_grasp: Right hand moves from the right edge of the frame toward the yellow hammer, makes contact with the yellow hammer head, and closes fingers to grasp the hammer."} +{"subtask_index": 1382, "subtask": "Left hand: idle: Left hand remains empty at the left edge of the frame without any observable movement throughout the segment. | Right hand: idle: Right hand remains empty and stationary at the top-right edge of the frame, with no movement toward the work surface."} +{"subtask_index": 1383, "subtask": "Left hand: idle: Left hand remains empty at the left edge of the frame without any observable movement throughout the segment. | Right hand: reach: Right hand moves down and left from the top-right edge of the frame toward the wooden mallet, staying empty and not making contact with the mallet."} +{"subtask_index": 1384, "subtask": "Left hand: idle: Left hand remains empty at the left edge of the frame without any observable movement throughout the segment. | Right hand: grasp: Right hand makes contact with the wooden mallet handle, closes fingers around the handle and adjusts finger and wrist positions to form a grasp, while the mallet remains resting on the black work surface."} +{"subtask_index": 1385, "subtask": "Left hand: idle: Left hand remains empty at the left edge of the frame without any observable movement throughout the segment. | Right hand: grasp: Right hand closes and adjusts its fingers to establish a stable grasp on the wooden handle of the mallet resting on the black work surface."} +{"subtask_index": 1386, "subtask": "Left hand: idle: Left hand remains empty at the left edge of the frame without any observable movement throughout the segment. | Right hand: lift: Right hand lifts the grasped mallet upward until the mallet is completely raised off the black work surface."} +{"subtask_index": 1387, "subtask": "Left hand: idle: Left hand remains empty at the left edge of the frame without any observable movement throughout the segment. | Right hand: transport: Right hand carries the lifted mallet leftward through the air toward the wooden pegboard."} +{"subtask_index": 1388, "subtask": "Left hand: idle: Left hand remains empty at the left edge of the frame without any observable movement throughout the segment. | Right hand: place: Right hand lowers the mallet to rest its wooden handle on the wooden pegboard surface."} +{"subtask_index": 1389, "subtask": "Left hand: idle: Left hand remains empty at the left edge of the frame without any observable movement throughout the segment. | Right hand: hold: Right hand holds the positioned mallet on the wooden pegboard without observable movement."} +{"subtask_index": 1390, "subtask": "Left hand: idle: Left hand remains empty at the left edge of the frame without any observable movement throughout the segment. | Right hand: transport_press: Right hand moves the held wooden mallet straight downward a short distance, bringing the yellow mallet head into contact with the top of the red peg to apply vertical downward force."} +{"subtask_index": 1391, "subtask": "Left hand: idle: Left hand remains empty at the left edge of the frame without any observable movement throughout the segment. | Right hand: hold: Right hand maintains a stable grip on the wooden mallet handle, holding the mallet stationary with the yellow mallet head resting on the top of the red peg on the wooden base."} +{"subtask_index": 1392, "subtask": "Left hand: idle: Left hand remains empty at the left edge of the frame without any observable movement throughout the segment. | Right hand: grasp: Right hand adjusts its fingers around the wooden mallet handle to form a stable grip, fingers tightening against the wooden surface."} +{"subtask_index": 1393, "subtask": "Left hand: idle: Left hand remains empty at the left edge of the frame without any observable movement throughout the segment. | Right hand: lift: Right hand lifts the wooden mallet upward, fully separating it from the supporting wooden toy base below."} +{"subtask_index": 1394, "subtask": "Left hand: idle: Left hand remains empty at the left edge of the frame without any observable movement throughout the segment. | Right hand: transport: Right hand carries the lifted wooden mallet horizontally rightward across the black textured mat."} +{"subtask_index": 1395, "subtask": "Left hand: idle: Left hand remains empty at the left edge of the frame without any observable movement throughout the segment. | Right hand: place_release: Right hand lowers the wooden mallet onto the right area of the black mat until the mallet is fully supported by the surface, fingers opening to release the mallet handle."} +{"subtask_index": 1396, "subtask": "Left hand: idle: Left hand remains empty at the left edge of the frame without any observable movement throughout the segment. | Right hand: retreat: Right hand moves empty in an upward-right direction away from the resting wooden mallet."} +{"subtask_index": 1397, "subtask": "Left hand: idle: Left hand remains empty at the left edge of the frame without any observable movement throughout the segment."} +{"subtask_index": 1398, "subtask": "Left hand: idle: Left hand remains empty at the left edge of the frame without any observable movement throughout the segment. | Right hand: reach: Right hand enters from the top-right of the frame, empty, and moves downward toward the yellow hammer head on the black mat."} +{"subtask_index": 1399, "subtask": "Left hand: idle: Left hand remains empty at the left edge of the frame without any observable movement throughout the segment. | Right hand: grasp: Right hand makes contact with the yellow hammer head, closes fingers around it to establish a grasp while the hammer stays on the black mat."} +{"subtask_index": 1400, "subtask": "Right hand: reach: Right hand enters from the right edge of the frame and moves toward the yellow-headed hammer placed on the black mat."} +{"subtask_index": 1401, "subtask": "Right hand: grasp: Right hand contacts the wooden handle of the yellow-headed hammer, adjusts fingers to form a stable grip."} +{"subtask_index": 1402, "subtask": "Right hand: hold: Right hand holds the yellow-headed hammer stably on the black mat without moving."} +{"subtask_index": 1403, "subtask": "Right hand: grasp: Right hand adjusts its grip on the yellow-headed wooden hammer on the black mat to establish a stable grasp."} +{"subtask_index": 1404, "subtask": "Right hand: lift: Right hand lifts the grasped yellow-headed wooden hammer up from the black mat."} +{"subtask_index": 1405, "subtask": "Right hand: transport: Right hand transports the yellow-headed wooden hammer towards the wooden perforated plate with green pegs."} +{"subtask_index": 1406, "subtask": "Right hand: grasp: Right hand adjusts its fingers to form a stable grasp on the yellow-headed wooden hammer."} +{"subtask_index": 1407, "subtask": "Right hand: hold: Right hand holds the yellow-headed wooden hammer without moving."} +{"subtask_index": 1408, "subtask": "Right hand: transport: Right hand moves the yellow-headed wooden hammer upwards to the position above the green peg."} +{"subtask_index": 1409, "subtask": "Right hand: transport: Right hand moves the yellow-headed wooden hammer downwards towards the green peg."} +{"subtask_index": 1410, "subtask": "Right hand: press: Right hand presses the green peg into the wooden base with the yellow-headed wooden hammer."} +{"subtask_index": 1411, "subtask": "Right hand: transport: Right hand moves the yellow-headed wooden hammer upwards away from the wooden base."} +{"subtask_index": 1412, "subtask": "Right hand: transport: Right hand transports the yellow-headed wooden hammer away from the peg toy towards the right side of the black table surface."} +{"subtask_index": 1413, "subtask": "Right hand: place_release: Right hand places the yellow-headed wooden hammer onto the black table surface and releases its grip on the hammer."} +{"subtask_index": 1414, "subtask": "Right hand: retreat: Right hand retreats away from the hammer placed on the black table surface."} +{"subtask_index": 1415, "subtask": "Right hand: reach: Right hand enters from the top right edge of the frame, moves empty downward toward the wooden hammer on the right side of the black work surface."} +{"subtask_index": 1416, "subtask": "Right hand: grasp: Right hand contacts the wooden handle of the hammer, adjusts finger positions and closes fingers to form a grip on the handle, causing slight positional shifts of the hammer while it remains supported by the work surface."} +{"subtask_index": 1417, "subtask": "Right hand: lift: Right hand grips the wooden mallet handle and lifts the mallet upward to fully separate it from the black work surface."} +{"subtask_index": 1418, "subtask": "Right hand: transport: Right hand carries the lifted wooden mallet, moving it horizontally leftward to position it above the wooden peg board."} +{"subtask_index": 1419, "subtask": "Right hand: grasp: Right hand slightly adjusts its finger positions on the mallet handle to stabilize the grip, with minimal movement of the mallet above the peg board."} +{"subtask_index": 1420, "subtask": "Right hand: press: Right hand holds the handle of the wooden mallet, moves vertically downward together with the mallet, and applies downward pressure to press the mallet head against the green peg on the perforated wooden board."} +{"subtask_index": 1421, "subtask": "Right hand: grasp: Right hand continuously makes fine adjustments to its grip on the wooden mallet, slightly shifting the mallet's horizontal position and rotating it by small angles to adjust its placement on the wooden peg board."} +{"subtask_index": 1422, "subtask": "Right hand: lift_transport: Right hand holds the wooden mallet, lifts it completely off the wooden peg board, and transports it toward the right rear area above the black work surface."} +{"subtask_index": 1423, "subtask": "Right hand: place_release: Right hand lowers the wooden mallet onto the black table surface until it rests stably, with fingers opening to release contact with the mallet."} +{"subtask_index": 1424, "subtask": "Right hand: retreat: Right hand stays empty as it moves upward and backward away from the resting mallet."} +{"subtask_index": 1425, "subtask": "Right hand: reach: Right hand moves down and left from the top-right edge of the frame toward the wooden handle of the yellow mallet, with fingers extended."} +{"subtask_index": 1426, "subtask": "Right hand: grasp: Right hand closes fingers around the wooden handle of the yellow mallet, making small adjustments to finger and wrist positions to form a grip, with the mallet remaining on the black supporting surface."} +{"subtask_index": 1427, "subtask": "Right hand: grasp: Right hand closes and adjusts its fingers around the wooden handle of the yellow mallet resting on the black work mat to establish a stable grasp."} +{"subtask_index": 1428, "subtask": "Right hand: lift_transport: Right hand lifts the yellow mallet off the black mat and carries it leftward toward the wooden peg toy, positioning the mallet above the red peg on the toy."} +{"subtask_index": 1429, "subtask": "Right hand: grasp: Right hand adjusts finger positions around the wooden mallet handle, making small grip adjustments to stabilize hold of the mallet."} +{"subtask_index": 1430, "subtask": "Right hand: other:small_vertical_tapping: Right hand holds the wooden mallet and makes repeated small vertical up-and-down movements to tap the peg on the perforated wooden base."} +{"subtask_index": 1431, "subtask": "Right hand: grasp_lift: Right hand adjusts its grip on the yellow mallet handle slightly and lifts the mallet up off the wooden peg board."} +{"subtask_index": 1432, "subtask": "Right hand: transport: Right hand carries the lifted yellow wooden mallet horizontally rightward through the air above the black work surface."} +{"subtask_index": 1433, "subtask": "Right hand: place: Right hand lowers the yellow wooden mallet downward until the entire mallet rests stably on the right section of the black work surface."} +{"subtask_index": 1434, "subtask": "Right hand: release: Right hand opens its fingers to release the mallet handle, moving fingers away from the placed mallet."} +{"subtask_index": 1435, "subtask": "Right hand: retreat: Right hand moves upward away from the yellow mallet with an empty hand, gradually approaching the top-right edge of the frame until exiting the visible area."} +{"subtask_index": 1436, "subtask": "Left hand: idle: Left hand remains outside the visible operation area, empty and stationary with no observable movement. | Right hand: idle: Right hand remains empty at the far right edge of the frame, stationary with no observable movement."} +{"subtask_index": 1437, "subtask": "Left hand: idle: Left hand remains outside the visible operation area, empty and stationary with no observable movement. | Right hand: reach: Right hand moves left-downward from the right edge of the frame toward the wooden handle of the yellow mallet, remaining empty without contacting the handle."} +{"subtask_index": 1438, "subtask": "Left hand: idle: Left hand remains outside the visible operation area, empty and stationary with no observable movement. | Right hand: grasp: Right hand makes contact with the wooden handle of the yellow mallet, fingers gradually close and adjust contact positions to form a grip on the handle, which remains resting on the black mat."} +{"subtask_index": 1439, "subtask": "Left hand: idle: Left hand remains outside the visible operation area, empty and stationary with no observable movement. | Right hand: grasp: Right hand adjusts its finger positions around the wooden hammer handle on the black work surface to establish a stable grasp."} +{"subtask_index": 1440, "subtask": "Left hand: idle: Left hand remains outside the visible operation area, empty and stationary with no observable movement. | Right hand: lift_transport: Right hand lifts the hammer completely off the work surface, moves it leftward toward the wooden peg board, and rotates it about a quarter turn to point the yellow hammer head downward toward the red peg."} +{"subtask_index": 1441, "subtask": "Left hand: idle: Left hand remains outside the visible operation area, empty and stationary with no observable movement. | Right hand: hold: Right hand holds the hammer steadily with the yellow head positioned over the red peg on the wooden board without observable movement."} +{"subtask_index": 1442, "subtask": "Left hand: idle: Left hand remains outside the visible operation area, empty and stationary with no observable movement. | Right hand: grasp: Right hand adjusts its fingers around the wooden handle of the hammer, slightly tightening the grip to stabilize hold on the hammer."} +{"subtask_index": 1443, "subtask": "Left hand: idle: Left hand remains outside the visible operation area, empty and stationary with no observable movement. | Right hand: transport: Right hand holds the hammer and moves it slightly upward and leftward to reposition it directly above the top of the green peg."} +{"subtask_index": 1444, "subtask": "Left hand: idle: Left hand remains outside the visible operation area, empty and stationary with no observable movement. | Right hand: press: Right hand moves the hammer slightly downward vertically to strike the top of the green peg, applying downward pressure on the peg surface."} +{"subtask_index": 1445, "subtask": "Left hand: idle: Left hand remains outside the visible operation area, empty and stationary with no observable movement. | Right hand: lift: Right hand holds the wooden hammer and lifts it upward to fully separate it from the wooden peg platform and black supporting surface."} +{"subtask_index": 1446, "subtask": "Left hand: idle: Left hand remains outside the visible operation area, empty and stationary with no observable movement. | Right hand: transport: Right hand carries the lifted hammer toward the right side of the work area, rotating the hammer about a quarter turn to adjust its orientation to horizontal."} +{"subtask_index": 1447, "subtask": "Left hand: idle: Left hand remains outside the visible operation area, empty and stationary with no observable movement. | Right hand: place_release: Right hand lowers the hammer onto the right area of the black supporting surface to lay it horizontally, with fingers opening to release the hammer handle."} +{"subtask_index": 1448, "subtask": "Left hand: idle: Left hand remains outside the visible operation area, empty and stationary with no observable movement. | Right hand: retreat: Right hand moves away from the placed hammer in the upward-right direction with empty fingers."} +{"subtask_index": 1449, "subtask": "Left hand: idle: Left hand remains outside the visible operation area, empty and stationary with no observable movement."} +{"subtask_index": 1450, "subtask": "Left hand: idle: Left hand remains empty outside the main visible operation area without any observable movement. | Right hand: idle: Right hand remains empty at the top right edge of the frame without any observable movement."} +{"subtask_index": 1451, "subtask": "Left hand: idle: Left hand remains empty outside the main visible operation area without any observable movement. | Right hand: reach: Right hand moves downward from the top right edge toward the wooden handle of the yellow mallet with fingers slightly open."} +{"subtask_index": 1452, "subtask": "Left hand: idle: Left hand remains empty outside the main visible operation area without any observable movement. | Right hand: grasp: Right hand makes contact with the wooden handle of the yellow mallet, fingers close around the handle and make small adjustments to establish a stable grip."} +{"subtask_index": 1453, "subtask": "Left hand: idle: Left hand remains empty outside the main visible operation area without any observable movement. | Right hand: grasp: Right hand adjusts finger positions along the wooden handle of the yellow mallet resting on the black table, tightening its grip to form a stable grasp on the mallet."} +{"subtask_index": 1454, "subtask": "Left hand: idle: Left hand remains empty outside the main visible operation area without any observable movement. | Right hand: lift: Right hand lifts the stably grasped yellow mallet upward until the mallet's wooden handle is fully raised off the black table surface."} +{"subtask_index": 1455, "subtask": "Left hand: idle: Left hand remains empty outside the main visible operation area without any observable movement. | Right hand: transport: Right hand transports the grasped yellow mallet leftward toward the wooden peg toy, rotating the mallet slightly counterclockwise to align the yellow mallet head vertically above the red peg on the toy."} +{"subtask_index": 1456, "subtask": "Left hand: idle: Left hand remains empty outside the main visible operation area without any observable movement. | Right hand: grasp: Right hand adjusts finger positions on the wooden mallet handle, tightening fingers to form a stable grip on the mallet."} +{"subtask_index": 1457, "subtask": "Left hand: idle: Left hand remains empty outside the main visible operation area without any observable movement. | Right hand: press: Right hand holds the wooden mallet and moves downward, applying vertical pressure to press the yellow mallet head onto the red peg on the wooden perforated base."} +{"subtask_index": 1458, "subtask": "Left hand: idle: Left hand remains empty outside the main visible operation area without any observable movement."} +{"subtask_index": 1459, "subtask": "Left hand: idle: Left hand remains empty outside the main visible operation area without any observable movement. | Right hand: lift: Right hand grips the wooden handle of the yellow mallet and lifts it upward off the wooden toy base."} +{"subtask_index": 1460, "subtask": "Left hand: idle: Left hand remains empty outside the main visible operation area without any observable movement. | Right hand: transport: Right hand carries the lifted yellow mallet horizontally rightward across the black work surface."} +{"subtask_index": 1461, "subtask": "Left hand: idle: Left hand remains empty outside the main visible operation area without any observable movement. | Right hand: reorient: Right hand rotates the yellow mallet slightly clockwise about a quarter turn while lowering it toward the black surface."} +{"subtask_index": 1462, "subtask": "Left hand: idle: Left hand remains empty outside the main visible operation area without any observable movement. | Right hand: place_release: Right hand lowers the yellow mallet until it rests stably on the black surface, opening its fingers to release the mallet handle."} +{"subtask_index": 1463, "subtask": "Left hand: idle: Left hand remains empty outside the main visible operation area without any observable movement. | Right hand: retreat: Right hand moves empty upward and away from the released mallet."} +{"subtask_index": 1464, "subtask": "Left hand: idle: Left hand remains empty outside the main visible operation area without any observable movement. | Right hand: idle: Right hand remains empty and stationary at the upper right of the frame with no movement."} +{"subtask_index": 1465, "subtask": "Right hand: reach: Right hand moves left from the right edge of the frame toward the yellow hammer placed on the black textured mat."} +{"subtask_index": 1466, "subtask": "Right hand: grasp: Right hand closes its fingers around the wooden handle of the hammer, adjusting grip position to establish stable contact."} +{"subtask_index": 1467, "subtask": "Right hand: lift: Right hand lifts the hammer slightly upward from the black mat surface."} +{"subtask_index": 1468, "subtask": "Right hand: grasp: Right hand adjusts fingers to form a stable grasp on the yellow hammer on the black mat."} +{"subtask_index": 1469, "subtask": "Right hand: lift_transport: Right hand lifts the yellow hammer from the black mat and transports it left and upward toward the wooden block with pegs."} +{"subtask_index": 1470, "subtask": "Right hand: transport: Right hand holds the wooden hammer and moves it upward to the position above the yellow peg on the wooden toy."} +{"subtask_index": 1471, "subtask": "Right hand: press: Right hand moves the wooden hammer downward to press against the yellow peg, striking it to push out the red small peg."} +{"subtask_index": 1472, "subtask": "Right hand: transport: Right hand holds the wooden hammer and moves it upward away from the yellow peg."} +{"subtask_index": 1473, "subtask": "Right hand: transport: Right hand holds the yellow hammer and moves rightward in the air above the black mat."} +{"subtask_index": 1474, "subtask": "Right hand: place: Right hand moves the hammer downward and places it on the right area of the black mat."} +{"subtask_index": 1475, "subtask": "Right hand: release_retreat: Right hand releases the hammer and moves rightward away from the hammer."} +{"subtask_index": 1476, "subtask": "Left hand: reach_grasp: Left hand reaches downward towards the top of the wooden board and grasps it with fingers adjusting to form a stable grip. | Right hand: reach_grasp: Right hand reaches downward towards the top of the wooden board and grasps it with fingers adjusting to form a stable grip."} +{"subtask_index": 1477, "subtask": "Right hand: reach: Right hand moves downward from the upper right of the frame toward the wooden handle of the yellow hammer, staying empty while approaching the target."} +{"subtask_index": 1478, "subtask": "Right hand: grasp: Right hand closes fingers around the wooden handle of the yellow hammer, adjusting finger contact positions to form a grip on the handle."} +{"subtask_index": 1479, "subtask": "Right hand: grasp: Right hand adjusts its fingers around the wooden handle of the mallet resting on the black work surface, closing fingers to form a stable grip on the handle."} +{"subtask_index": 1480, "subtask": "Right hand: lift: Right hand lifts the grasped mallet upward until the entire mallet is completely raised off the black supporting work surface."} +{"subtask_index": 1481, "subtask": "Right hand: transport: Right hand carries the lifted mallet through the air toward the central wooden peg toy, moving the yellow mallet head close to the red peg mounted on the toy."} +{"subtask_index": 1482, "subtask": "Right hand: hold: Right hand holds the wooden mallet with a yellow head resting on the wooden peg toy without any visible movement."} +{"subtask_index": 1483, "subtask": "Right hand: grasp: Right hand slightly rotates the wrist left to turn the mallet head about 30 degrees left, with minor finger adjustments to the grip on the mallet handle."} +{"subtask_index": 1484, "subtask": "Right hand: grasp: Right hand rotates the wrist right to return the mallet head to the forward-facing position, shifts slightly upward, and adjusts finger contact points on the mallet handle."} +{"subtask_index": 1485, "subtask": "Right hand: hold: Right hand holds the mallet steady on the peg toy without visible movement of the hand, fingers, or mallet."} +{"subtask_index": 1486, "subtask": "Right hand: grasp: Right hand rotates the wrist left to tilt the mallet head about 45 degrees left, shifts slightly downward, and makes minor finger adjustments to stabilize the grip."} +{"subtask_index": 1487, "subtask": "Right hand: hold: Right hand holds the tilted mallet steady on the peg toy without any visible movement."} +{"subtask_index": 1488, "subtask": "Right hand: grasp: Right hand rotates the wrist slightly right to turn the mallet head back toward the forward position, with minor grip adjustment."} +{"subtask_index": 1489, "subtask": "Right hand: transport: Right hand holds the wooden mallet with a yellow head and moves it rightward through the air above the black work surface, away from the wooden peg toy."} +{"subtask_index": 1490, "subtask": "Right hand: place_release: Right hand lowers the held wooden mallet to rest stably on the right area of the black work surface and opens its fingers to release the mallet handle."} +{"subtask_index": 1491, "subtask": "Right hand: retreat: Right hand moves empty upward and rightward away from the placed wooden mallet."} +{"subtask_index": 1492, "subtask": "Left hand: idle: Left hand remains empty at the left edge of the frame without any visible movement. | Right hand: idle: Right hand remains empty at the top-right edge of the frame without any visible movement."} +{"subtask_index": 1493, "subtask": "Left hand: idle: Left hand remains empty at the left edge of the frame without any visible movement. | Right hand: reach: Right hand moves diagonally downward and leftward with fingers slightly open, approaching the wooden handle of the yellow mallet placed on the black textured surface."} +{"subtask_index": 1494, "subtask": "Left hand: idle: Left hand remains empty at the left edge of the frame without any visible movement. | Right hand: grasp: Right hand closes fingers around the wooden handle of the yellow mallet, making small adjustments to finger positions to establish a grip."} +{"subtask_index": 1495, "subtask": "Left hand: idle: Left hand remains empty at the left edge of the frame without any visible movement. | Right hand: hold: Right hand holds the wooden handle of the yellow mallet resting on the black work surface without any visible movement."} +{"subtask_index": 1496, "subtask": "Left hand: idle: Left hand remains empty at the left edge of the frame without any visible movement. | Right hand: release: Right hand opens fingers to release the previous grip on the wooden mallet handle, separating fingers from the handle surface."} +{"subtask_index": 1497, "subtask": "Left hand: idle: Left hand remains empty at the left edge of the frame without any visible movement. | Right hand: reach: Right hand moves slightly toward the target position on the wooden mallet handle with fingers spread, approaching the handle without making contact."} +{"subtask_index": 1498, "subtask": "Left hand: idle: Left hand remains empty at the left edge of the frame without any visible movement. | Right hand: grasp: Right hand makes contact with the wooden mallet handle, repeatedly adjusting finger positions, opening and closing fingers slightly to shift contact points for a stable grip."} +{"subtask_index": 1499, "subtask": "Left hand: idle: Left hand remains empty at the left edge of the frame without any visible movement. | Right hand: hold: Right hand holds the wooden mallet handle steadily on the black work surface, with no visible movement of the hand, fingers or the mallet."} +{"subtask_index": 1500, "subtask": "Left hand: idle: Left hand remains empty at the left edge of the frame without any visible movement. | Right hand: grasp: Right hand adjusts finger positions to firmly grasp the wooden handle of the yellow mallet resting on the black table surface."} +{"subtask_index": 1501, "subtask": "Left hand: idle: Left hand remains empty at the left edge of the frame without any visible movement. | Right hand: lift_transport: Right hand lifts the grasped yellow mallet off the black table surface and moves it leftward toward the wooden peg toy."} +{"subtask_index": 1502, "subtask": "Left hand: idle: Left hand remains empty at the left edge of the frame without any visible movement. | Right hand: hold: Right hand holds the yellow mallet steadily above the wooden peg toy without moving."} +{"subtask_index": 1503, "subtask": "Left hand: idle: Left hand remains empty at the left edge of the frame without any visible movement. | Right hand: grasp: Right hand adjusts finger positions around the wooden mallet handle to form and stabilize a firm grip on the mallet."} +{"subtask_index": 1504, "subtask": "Left hand: idle: Left hand remains empty at the left edge of the frame without any visible movement. | Right hand: hold: Right hand holds the wooden mallet handle with a stable grip, with no visible movement of the hand, fingers or mallet."} +{"subtask_index": 1505, "subtask": "Left hand: idle: Left hand remains empty at the left edge of the frame without any visible movement. | Right hand: press: Right hand moves the held wooden mallet vertically downward, applying downward pressure to the peg positioned under the mallet head."} +{"subtask_index": 1506, "subtask": "Left hand: idle: Left hand remains empty at the left edge of the frame without any visible movement. | Right hand: lift_transport: Right hand grips the wooden mallet with a yellow head, lifts it clear of the wooden peg toy base, and carries it rightward through the air to a position above the right section of the black work surface."} +{"subtask_index": 1507, "subtask": "Left hand: idle: Left hand remains empty at the left edge of the frame without any visible movement. | Right hand: place_release: Right hand lowers the wooden mallet until the yellow head and wooden handle lie stably on the black work surface, opening its fingers to release contact with the mallet handle."} +{"subtask_index": 1508, "subtask": "Left hand: idle: Left hand remains empty at the left edge of the frame without any visible movement. | Right hand: retreat: Right hand moves in an empty state upward and rightward, retreating away from the placed mallet until it moves out of the visible frame."} +{"subtask_index": 1509, "subtask": "Left hand: idle: Left hand remains empty at the left edge of the frame without any visible movement."} +{"subtask_index": 1510, "subtask": "Left hand: idle: Left hand remains empty at the left edge of the frame without any visible movement. | Right hand: reach: Right hand enters from the top-right edge of the frame, moves downward to approach the yellow mallet on the black mat."} +{"subtask_index": 1511, "subtask": "Left hand: idle: Left hand remains partially visible at the left edge of the camera frame, empty and stationary without contacting any objects. | Right hand: idle: Right hand remains partially visible at the top-right edge of the camera frame, empty and stationary without moving."} +{"subtask_index": 1512, "subtask": "Left hand: idle: Left hand remains partially visible at the left edge of the camera frame, empty and stationary without contacting any objects. | Right hand: reach: Right hand moves leftward and downward toward the wooden handle of the yellow hammer, remaining empty as it approaches the target."} +{"subtask_index": 1513, "subtask": "Left hand: idle: Left hand remains partially visible at the left edge of the camera frame, empty and stationary without contacting any objects. | Right hand: grasp: Right hand makes contact with the wooden handle of the yellow hammer, fingers closing and adjusting to form a grip on the handle while the hammer stays resting on the black work surface."} +{"subtask_index": 1514, "subtask": "Left hand: idle: Left hand remains partially visible at the left edge of the camera frame, empty and stationary without contacting any objects. | Right hand: grasp: Right hand adjusts finger positions to close around and establish a stable grasp on the wooden handle of the yellow mallet resting on the black table surface."} +{"subtask_index": 1515, "subtask": "Left hand: idle: Left hand remains partially visible at the left edge of the camera frame, empty and stationary without contacting any objects. | Right hand: lift: Right hand lifts the grasped yellow mallet upward, raising the yellow mallet head fully off the table while the distal end of the wooden handle remains in contact with the table surface."} +{"subtask_index": 1516, "subtask": "Left hand: idle: Left hand remains partially visible at the left edge of the camera frame, empty and stationary without contacting any objects. | Right hand: transport: Right hand transports the lifted yellow mallet leftward toward the wooden peg toy, while rotating the mallet clockwise about a quarter turn to point the yellow mallet head downward."} +{"subtask_index": 1517, "subtask": "Left hand: idle: Left hand remains partially visible at the left edge of the camera frame, empty and stationary without contacting any objects. | Right hand: hold: Right hand holds the yellow mallet steadily above the wooden peg toy, with the mallet head aligned over the pegs, without any observable movement."} +{"subtask_index": 1518, "subtask": "Left hand: idle: Left hand remains partially visible at the left edge of the camera frame, empty and stationary without contacting any objects. | Right hand: mate: Right hand holds the wooden mallet handle, shifts the mallet slightly horizontally to align its shaft with the target hole on the perforated wooden board."} +{"subtask_index": 1519, "subtask": "Left hand: idle: Left hand remains partially visible at the left edge of the camera frame, empty and stationary without contacting any objects. | Right hand: press: Right hand exerts vertical downward pressure on the aligned wooden mallet, pushing the mallet head down to make firm contact with the wooden board surface."} +{"subtask_index": 1520, "subtask": "Left hand: idle: Left hand remains partially visible at the left edge of the camera frame, empty and stationary without contacting any objects. | Right hand: hold: Right hand holds the wooden mallet steady against the wooden board with no observable movement of the hand or mallet."} +{"subtask_index": 1521, "subtask": "Left hand: idle: Left hand remains partially visible at the left edge of the camera frame, empty and stationary without contacting any objects. | Right hand: grasp: Right hand makes slight adjustments to its fingers and wrist to resecure its grasp on the wooden mallet on the wooden toy."} +{"subtask_index": 1522, "subtask": "Left hand: idle: Left hand remains partially visible at the left edge of the camera frame, empty and stationary without contacting any objects. | Right hand: lift_transport: Right hand lifts the wooden mallet completely off the wooden toy, transports it toward the right side of the black work surface, and rotates the mallet about a quarter turn to shift the yellow mallet head from a vertical to horizontal orientation."} +{"subtask_index": 1523, "subtask": "Left hand: idle: Left hand remains partially visible at the left edge of the camera frame, empty and stationary without contacting any objects. | Right hand: place_release: Right hand lowers the wooden mallet onto the right side of the black work surface, opens its fingers to release the mallet to rest flat on the surface."} +{"subtask_index": 1524, "subtask": "Left hand: idle: Left hand remains partially visible at the left edge of the camera frame, empty and stationary without contacting any objects. | Right hand: idle: Right hand remains empty beside the wooden mallet on the black work surface, holding a static posture with no movement."} +{"subtask_index": 1525, "subtask": "Left hand: idle: Left hand remains partially visible at the left edge of the camera frame, empty and stationary without contacting any objects. | Right hand: retreat: Right hand moves upward and rightward away from the mallet while remaining empty, retreating from the operation position near the mallet."} +{"subtask_index": 1526, "subtask": "Left hand: idle: Left hand remains partially visible at the left edge of the camera frame, empty and stationary without contacting any objects. | Right hand: idle: Right hand is not visible in the frame, with no observable movement or contact with any operated object."} +{"subtask_index": 1527, "subtask": "Left hand: idle: Left hand remains partially visible at the left edge of the camera frame, empty and stationary without contacting any objects. | Right hand: reach: Right hand enters from the upper right edge of the frame, moving downward as an empty hand."} +{"subtask_index": 1528, "subtask": "Left hand: idle: Left hand stays partially visible at the left edge of the frame, remaining empty and stationary without contacting any object. | Right hand: idle: Right hand remains at the top right edge of the frame, empty and without observable movement."} +{"subtask_index": 1529, "subtask": "Left hand: idle: Left hand stays partially visible at the left edge of the frame, remaining empty and stationary without contacting any object. | Right hand: reach: Right hand moves downward from the top right of the frame toward the wooden handle of the yellow mallet, staying empty while approaching the target."} +{"subtask_index": 1530, "subtask": "Left hand: idle: Left hand stays partially visible at the left edge of the frame, remaining empty and stationary without contacting any object. | Right hand: grasp: Right hand makes contact with the wooden handle of the yellow mallet, with fingers closing and making small adjustments to establish a stable grip on the handle."} +{"subtask_index": 1531, "subtask": "Left hand: idle: Left hand stays partially visible at the left edge of the frame, remaining empty and stationary without contacting any object. | Right hand: lift: Right hand holds the wooden handle of the yellow mallet and begins to lift the handle upward from the black supporting surface."} +{"subtask_index": 1532, "subtask": "Left hand: idle: Left hand stays partially visible at the left edge of the frame, remaining empty and stationary without contacting any object. | Right hand: grasp: Right hand closes its fingers around the wooden mallet handle to tighten and form a stable grip."} +{"subtask_index": 1533, "subtask": "Left hand: idle: Left hand stays partially visible at the left edge of the frame, remaining empty and stationary without contacting any object. | Right hand: lift: Right hand lifts the grasped wooden mallet upward until the mallet is completely separated from the black supporting surface."} +{"subtask_index": 1534, "subtask": "Left hand: idle: Left hand stays partially visible at the left edge of the frame, remaining empty and stationary without contacting any object. | Right hand: transport: Right hand carries the lifted wooden mallet leftward toward the area above the wooden peg platform."} +{"subtask_index": 1535, "subtask": "Left hand: idle: Left hand stays partially visible at the left edge of the frame, remaining empty and stationary without contacting any object. | Right hand: place: Right hand moves the wooden mallet downward to rest the yellow mallet head on the wooden peg platform until the mallet is supported by the platform."} +{"subtask_index": 1536, "subtask": "Left hand: idle: Left hand stays partially visible at the left edge of the frame, remaining empty and stationary without contacting any object. | Right hand: hold: Right hand holds the wooden mallet handle steadily without movement, with the mallet head supported by the wooden peg platform."} +{"subtask_index": 1537, "subtask": "Left hand: idle: Left hand stays partially visible at the left edge of the frame, remaining empty and stationary without contacting any object. | Right hand: grasp: Right hand adjusts finger positions to establish a stable grip on the wooden handle of the yellow mallet."} +{"subtask_index": 1538, "subtask": "Left hand: idle: Left hand stays partially visible at the left edge of the frame, remaining empty and stationary without contacting any object. | Right hand: other:repeated_tapping: Right hand holds the yellow mallet, performing small repeated vertical up-and-down movements to tap the wooden peg on the wooden toy base."} +{"subtask_index": 1539, "subtask": "Left hand: idle: Left hand stays partially visible at the left edge of the frame, remaining empty and stationary without contacting any object. | Right hand: hold: Right hand holds the yellow wooden mallet inserted in the hole of the wooden platform without movement."} +{"subtask_index": 1540, "subtask": "Left hand: idle: Left hand stays partially visible at the left edge of the frame, remaining empty and stationary without contacting any object. | Right hand: lift: Right hand lifts the grasped yellow wooden mallet upward, fully detaching it from the wooden platform's surface."} +{"subtask_index": 1541, "subtask": "Left hand: idle: Left hand stays partially visible at the left edge of the frame, remaining empty and stationary without contacting any object. | Right hand: transport_place: Right hand transports the grasped yellow wooden mallet rightward across the black mat and lowers it slightly to set its wooden end on the mat surface."} +{"subtask_index": 1542, "subtask": "Left hand: idle: Left hand stays partially visible at the left edge of the frame, remaining empty and stationary without contacting any object. | Right hand: hold: Right hand holds the yellow wooden mallet stationary against the rear wall, with its wooden end supported by the black mat."} +{"subtask_index": 1543, "subtask": "Left hand: idle: Left hand stays partially visible at the left edge of the frame, remaining empty and stationary without contacting any object. | Right hand: release: Right hand opens its fingers to release the grip on the wooden handle of the mallet, separating from the handle."} +{"subtask_index": 1544, "subtask": "Left hand: idle: Left hand stays partially visible at the left edge of the frame, remaining empty and stationary without contacting any object. | Right hand: idle: Right hand remains empty above the resting mallet on the black mat without moving."} +{"subtask_index": 1545, "subtask": "Left hand: idle: Left hand stays partially visible at the left edge of the frame, remaining empty and stationary without contacting any object. | Right hand: retreat: Right hand moves empty in an upward direction away from the mallet on the work mat."} +{"subtask_index": 1546, "subtask": "Left hand: idle: Left hand stays partially visible at the left edge of the frame, remaining empty and stationary without contacting any object. | Right hand: idle: Right hand remains empty and stationary outside the visible operation area without moving."} +{"subtask_index": 1547, "subtask": "Left hand: reach_grasp: Left hand enters the frame from the top, moves downward toward the red peg on the wooden peg toy, closes fingers to make contact with the red peg and adjusts contact position slightly. | Right hand: reach_grasp: Right hand enters the frame from the top, moves downward toward the base of the wooden peg toy, closes fingers to make contact with the left edge of the toy base and adjusts contact position slightly."} +{"subtask_index": 1548, "subtask": "Left hand: idle: Left hand does not appear in the visible operation area and remains stationary without contacting any object. | Right hand: idle: Right hand remains empty with no obvious displacement, positioned at the top-right edge of the frame when visible."} +{"subtask_index": 1549, "subtask": "Left hand: idle: Left hand does not appear in the visible operation area and remains stationary without contacting any object. | Right hand: reach: Right hand moves down diagonally toward the wooden mallet with a yellow head on the right side of the black mat, fingers slightly open, and does not contact the mallet during this movement."} +{"subtask_index": 1550, "subtask": "Left hand: idle: Left hand does not appear in the visible operation area and remains stationary without contacting any object. | Right hand: grasp: Right hand contacts the wooden handle of the mallet, adjusts finger and wrist positions, and closes fingers around the handle to establish a grasp."} +{"subtask_index": 1551, "subtask": "Left hand: idle: Left hand does not appear in the visible operation area and remains stationary without contacting any object. | Right hand: grasp: Right hand adjusts its fingers around the wooden handle of the yellow-headed mallet resting on the black work surface to form a stable grip."} +{"subtask_index": 1552, "subtask": "Left hand: idle: Left hand does not appear in the visible operation area and remains stationary without contacting any object. | Right hand: lift: Right hand raises the grasped wooden mallet upward until the entire mallet is fully lifted clear of the black work surface."} +{"subtask_index": 1553, "subtask": "Left hand: idle: Left hand does not appear in the visible operation area and remains stationary without contacting any object. | Right hand: transport: Right hand carries the lifted wooden mallet horizontally left toward the light wooden peg board with green support posts."} +{"subtask_index": 1554, "subtask": "Left hand: idle: Left hand does not appear in the visible operation area and remains stationary without contacting any object. | Right hand: hold: Right hand holds the wooden mallet stationary above the wooden peg board, with no visible movement of the hand or mallet."} +{"subtask_index": 1555, "subtask": "Left hand: idle: Left hand does not appear in the visible operation area and remains stationary without contacting any object. | Right hand: other:tapping_with_mallet: Right hand grips the wooden mallet handle and makes small repeated vertical up-and-down movements to tap the wooden peg on the perforated wooden platform."} +{"subtask_index": 1556, "subtask": "Left hand: idle: Left hand does not appear in the visible operation area and remains stationary without contacting any object. | Right hand: transport: Right hand holds the wooden mallet and moves it horizontally rightward from above the wooden peg toy to the space above the black table to the right of the peg toy."} +{"subtask_index": 1557, "subtask": "Left hand: idle: Left hand does not appear in the visible operation area and remains stationary without contacting any object. | Right hand: place_release: Right hand lowers the wooden mallet onto the black table surface to the right of the peg toy, releases its grip on the mallet, and the mallet rests steadily on the table."} +{"subtask_index": 1558, "subtask": "Left hand: idle: Left hand does not appear in the visible operation area and remains stationary without contacting any object. | Right hand: retreat: Right hand stays empty and moves upward away from the placed wooden mallet, retreating toward the upper right of the frame."} +{"subtask_index": 1559, "subtask": "Left hand: idle: Left hand does not appear in the visible operation area and remains stationary without contacting any object."} +{"subtask_index": 1560, "subtask": "Left hand: idle: Left hand remains at the left edge of the frame, empty and stationary without participating in any operation. | Right hand: idle: Right hand stays at the top-right edge of the frame, empty and stationary without moving toward the target mallet."} +{"subtask_index": 1561, "subtask": "Left hand: idle: Left hand remains at the left edge of the frame, empty and stationary without participating in any operation. | Right hand: reach: Right hand moves downward from the top-right edge toward the wooden handle of the yellow mallet on the black work surface, remaining empty without contacting the mallet."} +{"subtask_index": 1562, "subtask": "Left hand: idle: Left hand remains at the left edge of the frame, empty and stationary without participating in any operation. | Right hand: grasp: Right hand makes contact with the wooden handle of the yellow mallet, fingers gradually close around the handle with minor positional adjustments to form a grip, the mallet remains supported by the black work surface."} +{"subtask_index": 1563, "subtask": "Left hand: idle: Left hand remains at the left edge of the frame, empty and stationary without participating in any operation. | Right hand: grasp: Right hand adjusts finger positions to close firmly around the wooden mallet handle, forming a stable grip while the mallet rests on the black work surface."} +{"subtask_index": 1564, "subtask": "Left hand: idle: Left hand remains at the left edge of the frame, empty and stationary without participating in any operation. | Right hand: lift: Right hand lifts the gripped mallet upward until the mallet's wooden handle fully loses contact with the black work surface."} +{"subtask_index": 1565, "subtask": "Left hand: idle: Left hand remains at the left edge of the frame, empty and stationary without participating in any operation. | Right hand: transport: Right hand moves the lifted mallet leftward across the work surface toward the wooden peg toy, positioning the yellow mallet head above the pegs."} +{"subtask_index": 1566, "subtask": "Left hand: idle: Left hand remains at the left edge of the frame, empty and stationary without participating in any operation. | Right hand: hold: Right hand holds the mallet steadily above the wooden peg toy without any visible movement of the hand or mallet."} +{"subtask_index": 1567, "subtask": "Left hand: idle: Left hand remains at the left edge of the frame, empty and stationary without participating in any operation. | Right hand: grasp: Right hand adjusts its grip on the wooden mallet handle, with fingers slightly moving to reposition and tighten contact with the handle."} +{"subtask_index": 1568, "subtask": "Left hand: idle: Left hand remains at the left edge of the frame, empty and stationary without participating in any operation. | Right hand: other:repeated_small_downward_tap: Right hand holds the wooden mallet and performs repeated small downward tapping motions on the peg inserted in the wooden perforated board, moving the mallet in short vertical up-and-down motions."} +{"subtask_index": 1569, "subtask": "Left hand: idle: Left hand remains at the left edge of the frame, empty and stationary without participating in any operation. | Right hand: transport: Right hand holds the wooden mallet, moving it rightward and slightly downward across the area beside the wooden peg toy toward the target placement position."} +{"subtask_index": 1570, "subtask": "Left hand: idle: Left hand remains at the left edge of the frame, empty and stationary without participating in any operation. | Right hand: place_release: Right hand lowers the wooden mallet to the black mat surface, adjusts the mallet to rest stably horizontally on the mat, with fingers opening to release contact with the mallet handle."} +{"subtask_index": 1571, "subtask": "Left hand: idle: Left hand remains at the left edge of the frame, empty and stationary without participating in any operation. | Right hand: retreat: Right hand moves in an empty state upward and rightward away from the placed mallet, retreating from the operation area."} +{"subtask_index": 1572, "subtask": "Left hand: idle: Left hand remains at the left edge of the frame, empty and stationary without participating in any operation."} +{"subtask_index": 1573, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left edge of the frame throughout the interval. | Right hand: reach: Right hand enters the frame from the top-right corner, moves downward with partially open fingers toward the wooden mallet on the right side of the black work surface, without contacting the mallet."} +{"subtask_index": 1574, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left edge of the frame throughout the interval. | Right hand: grasp: Right hand contacts the wooden mallet handle, adjusts finger positions, and closes fingers around the handle to form a stable grasp, with the mallet resting on the black work surface."} +{"subtask_index": 1575, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left edge of the frame throughout the interval. | Right hand: lift: Right hand holds the grasped wooden mallet and moves upward, with the mallet still partially supported by the black work surface at the end of the segment."} +{"subtask_index": 1576, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left edge of the frame throughout the interval. | Right hand: grasp: Right hand adjusts its fingers around the wooden mallet handle to form a stable grasp, with the mallet resting on the black table surface."} +{"subtask_index": 1577, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left edge of the frame throughout the interval. | Right hand: lift_transport: Right hand lifts the grasped mallet completely off the black surface, moving it upward and leftward toward the wooden peg toy."} +{"subtask_index": 1578, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left edge of the frame throughout the interval. | Right hand: hold: Right hand holds the wooden mallet steadily above the wooden peg toy without any visible movement."} +{"subtask_index": 1579, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left edge of the frame throughout the interval. | Right hand: grasp: Right hand adjusts finger positions on the wooden mallet handle to establish a stable grip."} +{"subtask_index": 1580, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left edge of the frame throughout the interval. | Right hand: lift: Right hand lifts the wooden mallet upward, raising the yellow mallet head completely away from the surface of the wooden peg board."} +{"subtask_index": 1581, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left edge of the frame throughout the interval. | Right hand: transport_mate: Right hand moves the wooden mallet horizontally to position the yellow mallet head directly above the target peg, aligning the mallet vertically with the peg."} +{"subtask_index": 1582, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left edge of the frame throughout the interval. | Right hand: press: Right hand presses the wooden mallet vertically downward, applying continuous force to push the yellow mallet head against the target peg on the wooden board."} +{"subtask_index": 1583, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left edge of the frame throughout the interval. | Right hand: lift: Right hand firmly grasps the wooden mallet and lifts it upward, fully separating the mallet from the wooden peg board and the black table surface below."} +{"subtask_index": 1584, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left edge of the frame throughout the interval. | Right hand: transport: Right hand carries the lifted wooden mallet and moves it horizontally rightward across the black table to the right side of the peg board."} +{"subtask_index": 1585, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left edge of the frame throughout the interval. | Right hand: place: Right hand lowers the wooden mallet down to the right-side black table surface, adjusting the mallet to an upright position supported by the table."} +{"subtask_index": 1586, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left edge of the frame throughout the interval. | Right hand: release: Right hand opens its fingers to release the wooden mallet, fully separating the hand from the mallet handle."} +{"subtask_index": 1587, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left edge of the frame throughout the interval. | Right hand: idle: Right hand remains empty and stationary above the upright wooden mallet with no observable movement."} +{"subtask_index": 1588, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left edge of the frame throughout the interval. | Right hand: retreat: Right hand remains empty, moves upward continuously and exits the frame through the top-right edge."} +{"subtask_index": 1589, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left edge of the frame throughout the interval."} +{"subtask_index": 1590, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left edge of the frame throughout the interval. | Right hand: reach: Right hand enters the frame from the top-right corner, moves diagonally down-left toward the yellow mallet on the black work surface, and approaches the yellow cylindrical head of the mallet with slightly curved fingers."} +{"subtask_index": 1591, "subtask": "Right hand: reach: Right hand moves left from the right edge of the frame toward the wooden handle of the yellow hammer, without contacting the hammer."} +{"subtask_index": 1592, "subtask": "Right hand: grasp: Right hand touches the wooden handle of the yellow hammer, and adjusts its fingers to form a stable grasp on the handle."} +{"subtask_index": 1593, "subtask": "Right hand: lift: Right hand lifts the yellow hammer up to make it completely leave the black mat surface."} +{"subtask_index": 1594, "subtask": "Right hand: transport: Right hand transports the yellow hammer leftwards to the position above the red peg on the wooden board."} +{"subtask_index": 1595, "subtask": "Right hand: press: Right hand presses the red peg on the wooden board with the yellow hammer."} +{"subtask_index": 1596, "subtask": "Right hand: hold: Right hand holds the yellow hammer stationary above the wooden board."} +{"subtask_index": 1597, "subtask": "Right hand: transport: Right hand moves the yellow hammer away from the wooden board."} +{"subtask_index": 1598, "subtask": "Right hand: transport: Right hand transports the yellow hammer with wooden handle towards the right side of the black mat."} +{"subtask_index": 1599, "subtask": "Right hand: place_release: Right hand places the yellow hammer on the right side of the black mat and releases the grip of the hammer handle."} +{"subtask_index": 1600, "subtask": "Left hand: idle: Left hand remains empty at the left edge of the frame, keeping still without contacting any objects throughout the segment. | Right hand: idle: Right hand stays empty at the upper right edge of the frame, remaining still without approaching any objects."} +{"subtask_index": 1601, "subtask": "Left hand: idle: Left hand remains empty at the left edge of the frame, keeping still without contacting any objects throughout the segment. | Right hand: reach: Right hand moves downward with fingers slightly open, approaching the wooden handle of the yellow mallet placed on the black work surface."} +{"subtask_index": 1602, "subtask": "Left hand: idle: Left hand remains empty at the left edge of the frame, keeping still without contacting any objects throughout the segment. | Right hand: grasp: Right hand closes fingers around the wooden handle of the yellow mallet, adjusting finger contact positions to establish a stable grasp on the handle."} +{"subtask_index": 1603, "subtask": "Left hand: idle: Left hand remains empty at the left edge of the frame, keeping still without contacting any objects throughout the segment. | Right hand: lift: Right hand moves upward while holding the yellow mallet, lifting the mallet partially off the black work surface by the end of the segment."} +{"subtask_index": 1604, "subtask": "Left hand: idle: Left hand remains empty at the left edge of the frame, keeping still without contacting any objects throughout the segment. | Right hand: lift: Right hand firmly grips the wooden handle of the yellow mallet and lifts the mallet upward off the black supporting mat."} +{"subtask_index": 1605, "subtask": "Left hand: idle: Left hand remains empty at the left edge of the frame, keeping still without contacting any objects throughout the segment. | Right hand: transport: Right hand carries the grasped yellow mallet, moving it leftward toward the wooden peg platform in the center of the mat."} +{"subtask_index": 1606, "subtask": "Left hand: idle: Left hand remains empty at the left edge of the frame, keeping still without contacting any objects throughout the segment. | Right hand: place: Right hand lowers the yellow mallet vertically, placing the yellow mallet head onto the surface of the wooden peg platform until the mallet is stably supported."} +{"subtask_index": 1607, "subtask": "Left hand: idle: Left hand remains empty at the left edge of the frame, keeping still without contacting any objects throughout the segment. | Right hand: hold: Right hand holds the wooden handle of the yellow mallet without any movement, with the mallet head resting steadily on the wooden peg platform."} +{"subtask_index": 1608, "subtask": "Left hand: idle: Left hand remains empty at the left edge of the frame, keeping still without contacting any objects throughout the segment. | Right hand: grasp: Right hand adjusts the positions of its fingers around the wooden handle of the yellow mallet, making small finger movements to form a stable grip on the handle."} +{"subtask_index": 1609, "subtask": "Left hand: idle: Left hand remains empty at the left edge of the frame, keeping still without contacting any objects throughout the segment. | Right hand: hold: Right hand holds the wooden handle of the yellow mallet steadily, with no visible movement of the hand, fingers or the mallet."} +{"subtask_index": 1610, "subtask": "Left hand: idle: Left hand remains empty at the left edge of the frame, keeping still without contacting any objects throughout the segment. | Right hand: transport: Right hand holds the yellow mallet and moves it upward, lifting the mallet head higher above the wooden peg board."} +{"subtask_index": 1611, "subtask": "Left hand: idle: Left hand remains empty at the left edge of the frame, keeping still without contacting any objects throughout the segment. | Right hand: lift_transport: Right hand holds the wooden mallet, lifts it off the table surface near the wooden peg toy, and transports it rightward to the position above the target area on the right side of the black table."} +{"subtask_index": 1612, "subtask": "Left hand: idle: Left hand remains empty at the left edge of the frame, keeping still without contacting any objects throughout the segment. | Right hand: place_release: Right hand holds the wooden mallet, lowers it onto the right black table surface, adjusts slightly until the mallet is fully supported by the table, opens its fingers to release the mallet handle and separate from the mallet."} +{"subtask_index": 1613, "subtask": "Left hand: idle: Left hand remains empty at the left edge of the frame, keeping still without contacting any objects throughout the segment. | Right hand: retreat: Right hand moves empty in an upward-right direction away from the placed mallet, retreating to the upper right area of the frame."} +{"subtask_index": 1614, "subtask": "Left hand: idle: Left hand remains empty at the left edge of the frame, keeping still without contacting any objects throughout the segment."} +{"subtask_index": 1615, "subtask": "Right hand: reach: Right hand moves down-left from the top-right area toward the wooden handle of the yellow hammer with fingers slightly open."} +{"subtask_index": 1616, "subtask": "Right hand: grasp: Right hand grasps the wooden handle of the yellow hammer, with fingers closing and adjusting to form a stable grip."} +{"subtask_index": 1617, "subtask": "Right hand: hold: Right hand holds the wooden handle of the yellow hammer on the black textured mat without moving."} +{"subtask_index": 1618, "subtask": "Right hand: grasp: Right hand grasps the wooden handle of the yellow-headed mallet resting on the black mat, with fingers adjusting to form a stable grip."} +{"subtask_index": 1619, "subtask": "Right hand: lift: Right hand lifts the yellow-headed mallet upward until it is fully off the black mat."} +{"subtask_index": 1620, "subtask": "Right hand: transport: Right hand transports the yellow-headed mallet leftward toward the green peg on the wooden board."} +{"subtask_index": 1621, "subtask": "Right hand: place: Right hand lowers the yellow-headed mallet and places it onto the green peg on the wooden board."} +{"subtask_index": 1622, "subtask": "Right hand: grasp: Right hand adjusts its grasp on the lower end of the yellow-headed mallet's wooden handle, with the mallet's yellow head resting on the wooden peg board."} +{"subtask_index": 1623, "subtask": "Right hand: lift: Right hand lifts the yellow-headed mallet upward by its wooden handle, until the yellow head leaves the surface of the wooden peg board."} +{"subtask_index": 1624, "subtask": "Right hand: transport: Right hand moves the lifted yellow-headed mallet leftward to the position directly above the red peg on the wooden peg board."} +{"subtask_index": 1625, "subtask": "Right hand: hold: Right hand holds the yellow-headed mallet steady above the red peg on the wooden peg board without moving."} +{"subtask_index": 1626, "subtask": "Right hand: grasp: Right hand adjusts its grasp on the wooden handle of the yellow-headed mallet while the mallet remains above the red peg."} +{"subtask_index": 1627, "subtask": "Right hand: transport: Right hand moves the yellow-headed mallet rightward away from the position above the red peg."} +{"subtask_index": 1628, "subtask": "Right hand: pull: Right hand pulls the yellow-headed mallet rightward along the black table surface away from the wooden toy."} +{"subtask_index": 1629, "subtask": "Right hand: reorient: Right hand reorients the yellow-headed mallet by rotating it about 90 degrees to lie horizontally on the black table surface."} +{"subtask_index": 1630, "subtask": "Right hand: release: Right hand releases the yellow-headed mallet on the black table surface with fingers opening."} +{"subtask_index": 1631, "subtask": "Right hand: retreat: Right hand, which is empty, moves up-right toward the right edge of the frame and exits the frame."} +{"subtask_index": 1632, "subtask": "Left hand: idle: Left hand remains empty at the far left edge of the frame without any observable movement or contact with other objects. | Right hand: idle: Right hand remains empty at the far upper right edge of the frame without any observable movement."} +{"subtask_index": 1633, "subtask": "Left hand: idle: Left hand remains empty at the far left edge of the frame without any observable movement or contact with other objects. | Right hand: reach: Right hand moves diagonally down and left toward the wooden handle of the yellow mallet on the black mat, making no contact with the mallet throughout the movement."} +{"subtask_index": 1634, "subtask": "Left hand: idle: Left hand remains empty at the far left edge of the frame without any observable movement or contact with other objects. | Right hand: grasp_lift: Right hand closes fingers around the wooden handle of the yellow mallet to form a stable grasp, beginning to lift the mallet slightly while the yellow mallet head remains in contact with the black supporting mat."} +{"subtask_index": 1635, "subtask": "Left hand: idle: Left hand remains empty at the far left edge of the frame without any observable movement or contact with other objects. | Right hand: hold: Right hand holds the wooden hammer resting on the black work surface without moving."} +{"subtask_index": 1636, "subtask": "Left hand: idle: Left hand remains empty at the far left edge of the frame without any observable movement or contact with other objects. | Right hand: lift: Right hand lifts the grasped wooden hammer upward until the hammer fully separates from the black work surface."} +{"subtask_index": 1637, "subtask": "Left hand: idle: Left hand remains empty at the far left edge of the frame without any observable movement or contact with other objects. | Right hand: transport: Right hand carries the lifted wooden hammer leftward toward the area above the wooden peg board."} +{"subtask_index": 1638, "subtask": "Left hand: idle: Left hand remains empty at the far left edge of the frame without any observable movement or contact with other objects. | Right hand: reorient: Right hand rotates the wooden hammer slightly to a vertical orientation and makes small positional adjustments to align the yellow hammer head over the red peg on the wooden board."} +{"subtask_index": 1639, "subtask": "Left hand: idle: Left hand remains empty at the far left edge of the frame without any observable movement or contact with other objects. | Right hand: hold: Right hand holds the aligned wooden hammer steadily over the red peg without visible movement."} +{"subtask_index": 1640, "subtask": "Left hand: idle: Left hand remains empty at the far left edge of the frame without any observable movement or contact with other objects. | Right hand: lift: Right hand grips the light wooden handle of the hammer, lifting the hammer upward until it fully separates from the wooden peg board."} +{"subtask_index": 1641, "subtask": "Left hand: idle: Left hand remains empty at the far left edge of the frame without any observable movement or contact with other objects. | Right hand: transport: Right hand carries the lifted hammer, moving it horizontally rightward through the air above the black textured work surface."} +{"subtask_index": 1642, "subtask": "Left hand: idle: Left hand remains empty at the far left edge of the frame without any observable movement or contact with other objects. | Right hand: place_release: Right hand moves the hammer downward toward the black work surface, opening its fingers to release the hammer from its grip."} +{"subtask_index": 1643, "subtask": "Left hand: idle: Left hand remains empty at the far left edge of the frame without any observable movement or contact with other objects. | Right hand: retreat: Empty right hand moves upward and away from the released hammer toward the upper right of the frame."} +{"subtask_index": 1644, "subtask": "Left hand: idle: Left hand remains empty at the far left edge of the frame without any observable movement or contact with other objects."} +{"subtask_index": 1645, "subtask": "Left hand: idle: Left hand remains empty at the far left edge of the frame without any observable movement or contact with other objects. | Right hand: reach: Right hand is empty, enters the frame from the top right edge, and moves downward toward the black work surface without contacting any object."} +{"subtask_index": 1646, "subtask": "Right hand: reach: Right hand moves downward from the top right edge of the frame toward the wooden hammer handle, with fingers slightly open, making no contact with the hammer."} +{"subtask_index": 1647, "subtask": "Right hand: grasp: Right hand closes fingers around the wooden hammer handle, making slight adjustments to fingers and wrist to form a stable grip on the hammer."} +{"subtask_index": 1648, "subtask": "Right hand: lift_transport: Right hand holds the wooden hammer, lifts it completely off the black supporting surface, and moves it leftward to a position above the wooden platform."} +{"subtask_index": 1649, "subtask": "Right hand: hold: Right hand holds the wooden hammer steadily above the wooden platform, with no observable movement of the hand, wrist or the hammer."} +{"subtask_index": 1650, "subtask": "Right hand: grasp: Right hand adjusts its fingers around the wooden mallet handle, making small tightening movements to establish a stable grip on the handle."} +{"subtask_index": 1651, "subtask": "Right hand: press: Right hand exerts downward force on the wooden mallet, pressing the yellow mallet head vertically down onto the green peg mounted on the perforated wooden board."} +{"subtask_index": 1652, "subtask": "Right hand: transport: Right hand holds the grasped yellow mallet and moves it horizontally to the right across the black table surface."} +{"subtask_index": 1653, "subtask": "Right hand: place_release: Right hand lowers the yellow mallet to the right area of the table, sets the mallet to rest stably on the table surface and opens fingers to release grip on the mallet handle."} +{"subtask_index": 1654, "subtask": "Right hand: retreat: Right hand moves empty upward and rightward, retreating away from the placed yellow mallet toward the edge of the frame."} +{"subtask_index": 1655, "subtask": "Right hand: grasp: Right hand closes its fingers around the wooden handle of the yellow hammer to establish stable grasp."} +{"subtask_index": 1656, "subtask": "Right hand: lift: Right hand lifts the yellow hammer upwards until it is completely off the black mat surface."} +{"subtask_index": 1657, "subtask": "Right hand: transport: Right hand carries the yellow hammer and moves it to the position above the green pin on the wooden board."} +{"subtask_index": 1658, "subtask": "Right hand: hold: Right hand holds the yellow hammer steadily above the green pin on the wooden board without moving."} +{"subtask_index": 1659, "subtask": "Right hand: grasp: Right hand adjusts fingers to form a stable grip on the wooden handle of the hammer, with minor grip position adjustments."} +{"subtask_index": 1660, "subtask": "Right hand: lift: Right hand lifts the hammer upward, pulling it out of the original hole on the wooden base."} +{"subtask_index": 1661, "subtask": "Right hand: transport: Right hand moves the lifted hammer to the position above the red part on the wooden base."} +{"subtask_index": 1662, "subtask": "Right hand: transport: Right hand transports the hammer with yellow head and wooden handle rightward away from the wooden toy."} +{"subtask_index": 1663, "subtask": "Right hand: place_release: Right hand places the hammer on the black mat at the right side of the wooden toy and releases the hammer."} +{"subtask_index": 1664, "subtask": "Right hand: retreat: Right hand retreats rightward away from the placed hammer."} +{"subtask_index": 1665, "subtask": "Right hand: grasp: Right hand enters from the right side of the frame, contacts the yellow hammer and closes fingers to grasp it."} +{"subtask_index": 1666, "subtask": "Right hand: lift_transport: Right hand lifts the grasped yellow hammer off the black mat and moves it rightward."} +{"subtask_index": 1667, "subtask": "Right hand: place: Right hand places the yellow hammer onto the right area of the black mat."} +{"subtask_index": 1668, "subtask": "Right hand: reach: Right hand moves downward toward the yellow hammer on the right side of the black mat."} +{"subtask_index": 1669, "subtask": "Right hand: grasp: Right hand closes fingers around the wooden handle of the yellow hammer, making slight adjustments to form a stable grip."} +{"subtask_index": 1670, "subtask": "Right hand: lift: Right hand lifts the hammer with yellow head from the black supporting mat."} +{"subtask_index": 1671, "subtask": "Right hand: transport: Right hand transports the hammer leftward to the position above the green peg on the wooden base."} +{"subtask_index": 1672, "subtask": "Right hand: press: Right hand presses the yellow hammer head against the yellow peg on the wooden board."} +{"subtask_index": 1673, "subtask": "Right hand: lift: Right hand lifts the yellow hammer upwards away from the yellow peg."} +{"subtask_index": 1674, "subtask": "Right hand: lift_transport: Right hand lifts the yellow hammer away from the peg and moves it to the right."} +{"subtask_index": 1675, "subtask": "Right hand: transport: Right hand transports the hammer with yellow head and wooden handle toward the right side of the black mat."} +{"subtask_index": 1676, "subtask": "Right hand: place_release: Right hand places the hammer onto the right side of the black mat and releases its grip on the wooden handle."} +{"subtask_index": 1677, "subtask": "Right hand: reach: Right hand moves down-left from the top-right corner of the frame toward the yellow hammer with wooden handle on the black mat."} +{"subtask_index": 1678, "subtask": "Right hand: grasp: Right hand adjusts fingers to grasp the hammer with yellow head and wooden handle on the black mat."} +{"subtask_index": 1679, "subtask": "Right hand: lift: Right hand lifts the hammer from the black mat until the hammer is completely off the support surface."} +{"subtask_index": 1680, "subtask": "Right hand: transport: Right hand transports the hammer toward the green peg on the wooden peg board."} +{"subtask_index": 1681, "subtask": "Right hand: hold: Right hand holds the hammer steadily above the green peg on the wooden peg board without moving."} +{"subtask_index": 1682, "subtask": "Right hand: grasp: Right hand adjusts fingers slightly to stabilize the grip on the wooden handle of the hammer."} +{"subtask_index": 1683, "subtask": "Right hand: transport: Right hand transports the hammer towards the red peg on the perforated wooden base."} +{"subtask_index": 1684, "subtask": "Right hand: mate: Right hand adjusts the position of the hammer to align it with the red peg."} +{"subtask_index": 1685, "subtask": "Right hand: hold: Right hand holds the hammer aligned with the red peg without obvious movement."} +{"subtask_index": 1686, "subtask": "Right hand: transport: Right hand transports the hammer with a wooden handle and yellow head towards the right side of the perforated wooden platform."} +{"subtask_index": 1687, "subtask": "Right hand: place_release: Right hand places the hammer on the black textured ground and releases its grip on the hammer handle."} +{"subtask_index": 1688, "subtask": "Right hand: retreat: Right hand retreats upwards away from the hammer placed on the ground."} +{"subtask_index": 1689, "subtask": "Right hand: retreat: Right hand moves toward the top-right corner of the frame and exits the visible area."} +{"subtask_index": 1690, "subtask": "Left hand: idle: Left hand remains outside the main visible operation area for the full segment, empty and without observable movement. | Right hand: idle: Right hand remains empty at the top right edge of the frame without moving."} +{"subtask_index": 1691, "subtask": "Left hand: idle: Left hand remains outside the main visible operation area for the full segment, empty and without observable movement. | Right hand: reach: Right hand moves downward and leftward from the top right edge of the frame toward the wooden mallet resting on the black mat, staying empty as it approaches the mallet's wooden handle."} +{"subtask_index": 1692, "subtask": "Left hand: idle: Left hand remains outside the main visible operation area for the full segment, empty and without observable movement. | Right hand: grasp: Right hand contacts the wooden handle of the mallet, fingers close around the handle and adjust position to form a stable grip, with the mallet remaining supported by the black mat."} +{"subtask_index": 1693, "subtask": "Left hand: idle: Left hand remains outside the main visible operation area for the full segment, empty and without observable movement. | Right hand: grasp: Right hand closes fingers around the wooden handle of the mallet on the black work mat, adjusting finger positions to form a stable grip."} +{"subtask_index": 1694, "subtask": "Left hand: idle: Left hand remains outside the main visible operation area for the full segment, empty and without observable movement. | Right hand: lift: Right hand lifts the grasped wooden mallet upward until the entire mallet is fully raised off the black work mat."} +{"subtask_index": 1695, "subtask": "Left hand: idle: Left hand remains outside the main visible operation area for the full segment, empty and without observable movement. | Right hand: transport: Right hand carries the grasped wooden mallet leftward through the air, moving it to the area above the left side of the wooden peg board."} +{"subtask_index": 1696, "subtask": "Left hand: idle: Left hand remains outside the main visible operation area for the full segment, empty and without observable movement. | Right hand: place: Right hand moves the grasped wooden mallet rightward and downward, lowering the yellow mallet head onto the surface of the wooden peg board until it is supported by the board."} +{"subtask_index": 1697, "subtask": "Left hand: idle: Left hand remains outside the main visible operation area for the full segment, empty and without observable movement. | Right hand: hold: Right hand holds the wooden mallet stationary on the wooden peg board surface with no observable movement of the hand or mallet."} +{"subtask_index": 1698, "subtask": "Left hand: idle: Left hand remains outside the main visible operation area for the full segment, empty and without observable movement. | Right hand: lift: Right hand maintains a firm grip on the light brown wooden mallet handle, lifts the mallet's yellow cylindrical head vertically upward a short distance until it fully separates from the yellow central peg on the perforated light wooden board."} +{"subtask_index": 1699, "subtask": "Left hand: idle: Left hand remains outside the main visible operation area for the full segment, empty and without observable movement. | Right hand: transport_press: Right hand moves the lifted wooden mallet vertically downward to contact the top of the yellow central peg, applying continuous vertical downward pressure through the mallet to press the peg further into the perforated light wooden board."} +{"subtask_index": 1700, "subtask": "Left hand: idle: Left hand remains outside the main visible operation area for the full segment, empty and without observable movement. | Right hand: lift: Right hand holds the wooden mallet and lifts it upward to fully separate it from the wooden peg toy support."} +{"subtask_index": 1701, "subtask": "Left hand: idle: Left hand remains outside the main visible operation area for the full segment, empty and without observable movement. | Right hand: transport: Right hand carries the lifted wooden mallet in a rightward arc to the area above the right section of the black work surface."} +{"subtask_index": 1702, "subtask": "Left hand: idle: Left hand remains outside the main visible operation area for the full segment, empty and without observable movement. | Right hand: place_release: Right hand lowers the wooden mallet onto the black work surface, opening fingers to release the mallet to rest flat on the surface."} +{"subtask_index": 1703, "subtask": "Left hand: idle: Left hand remains outside the main visible operation area for the full segment, empty and without observable movement. | Right hand: idle: Right hand stays empty in a fixed position above the right work surface adjacent to the placed mallet, with no visible movement."} +{"subtask_index": 1704, "subtask": "Left hand: reach: Left hand moves downward from the top right area of the frame toward the top edge of the wooden peg board, with fingers slightly spread, making no contact with any objects. | Right hand: idle: Right hand stays empty in a fixed position above the right work surface adjacent to the placed mallet, with no visible movement."} +{"subtask_index": 1705, "subtask": "Left hand: other:adjust_contact: Left hand makes contact with the top edge of the wooden peg board, making slight positional adjustments while keeping fingers flat against the board surface, no grasping motion is observed. | Right hand: grasp: Right hand enters the visible area, makes contact with the lower side edge of the wooden peg board, closes fingers around the edge and adjusts position to form a stable grip."} +{"subtask_index": 1706, "subtask": "Left hand: other:rest_on_surface: Left hand rests stationary on the top edge of the wooden peg board, with fingers flat against the surface, no observable movement or hand shape change. | Right hand: hold: Right hand holds the lower side edge of the wooden peg board steadily, with no observable movement of the hand or the contacted section of the board."} +{"subtask_index": 1707, "subtask": "Right hand: reach: Right hand moves leftward from the right edge of the frame toward the yellow-headed hammer on the black mat."} +{"subtask_index": 1708, "subtask": "Right hand: grasp: Right hand grasps the wooden handle of the yellow-headed hammer, with fingers closing around the handle to adjust the grip."} +{"subtask_index": 1709, "subtask": "Right hand: grasp: Right hand grasps the wooden handle of the yellow-headed hammer resting on the black mat, with fingers adjusting to form a stable grip."} +{"subtask_index": 1710, "subtask": "Right hand: lift: Right hand lifts the yellow-headed hammer upward from the black mat until the hammer is completely separated from the supporting surface."} +{"subtask_index": 1711, "subtask": "Right hand: transport: Right hand transports the yellow-headed hammer leftward in the air towards the wooden peg board."} +{"subtask_index": 1712, "subtask": "Right hand: grasp: Right hand grasps the wooden handle of the yellow-headed hammer, with fingers closing and adjusting to form a stable grip."} +{"subtask_index": 1713, "subtask": "Right hand: other:strike_green_peg: Right hand holds the yellow-headed hammer and moves downward to strike the green peg on the wooden board."} +{"subtask_index": 1714, "subtask": "Right hand: transport: Right hand holds the yellow-headed hammer and moves upward to lift the hammer head away from the green peg."} +{"subtask_index": 1715, "subtask": "Right hand: hold: Right hand holds the yellow-headed hammer in mid-air without moving."} +{"subtask_index": 1716, "subtask": "Right hand: lift_transport: Right hand lifts the yellow-headed hammer off the wooden pegboard and transports it rightward in the air."} +{"subtask_index": 1717, "subtask": "Right hand: place: Right hand moves the yellow-headed hammer downward and places it on the black textured work surface."} +{"subtask_index": 1718, "subtask": "Right hand: retreat: Right hand retreats rightward and upward away from the yellow hammer with a wooden handle on the black textured mat, with fingers open."} +{"subtask_index": 1719, "subtask": "Right hand: reach: Right hand enters from the top-right of the frame and moves leftward and downward toward the yellow-headed hammer on the black mat."} +{"subtask_index": 1720, "subtask": "Right hand: grasp: Right hand grasps the handle of the yellow-headed hammer, with fingers adjusting to form a stable grip."} +{"subtask_index": 1721, "subtask": "Right hand: lift: Right hand lifts the yellow-headed hammer upward from the black mat until the hammer is completely off the support surface."} +{"subtask_index": 1722, "subtask": "Right hand: transport: Right hand transports the yellow-headed hammer leftward and upward to the position above the red peg on the wooden peg board."} +{"subtask_index": 1723, "subtask": "Right hand: press: Right hand presses the yellow cylindrical peg on the wooden base downward with the wooden hammer it grips."} +{"subtask_index": 1724, "subtask": "Right hand: transport: Right hand carries the wooden hammer upward and slightly leftward, adjusting its position above the yellow cylindrical peg."} +{"subtask_index": 1725, "subtask": "Right hand: press: Right hand presses the yellow cylindrical peg on the wooden base downward again with the wooden hammer it grips."} +{"subtask_index": 1726, "subtask": "Right hand: hold: Right hand holds the wooden hammer pressed against the yellow cylindrical peg without moving."} +{"subtask_index": 1727, "subtask": "Right hand: transport: Right hand carries the wooden hammer upward away from the yellow cylindrical peg."} +{"subtask_index": 1728, "subtask": "Right hand: lift_transport: Right hand lifts and carries the yellow-headed hammer rightward and downward from the wooden pegboard."} +{"subtask_index": 1729, "subtask": "Right hand: place_release: Right hand places the yellow-headed hammer on the black textured ground and releases its grip."} +{"subtask_index": 1730, "subtask": "Right hand: retreat: Right hand retreats upward away from the hammer on the black textured ground."} +{"subtask_index": 1731, "subtask": "Left hand: reach_grasp: Left hand reaches toward the red peg on the top surface of the wooden peg board and grasps it with fingers. | Right hand: grasp_hold: Right hand grasps the lower edge of the wooden peg board with slight position adjustment and holds it still."} +{"subtask_index": 1732, "subtask": "Left hand: hold: Left hand holds the red peg on the top surface of the wooden peg board without moving. | Right hand: grasp_hold: Right hand grasps the lower edge of the wooden peg board with slight position adjustment and holds it still."} +{"subtask_index": 1733, "subtask": "Right hand: reach_grasp: Right hand moves leftward from the right edge of the frame toward the yellow hammer with wooden handle on the black mat and makes contact with the hammer handle to start grasping."} +{"subtask_index": 1734, "subtask": "Right hand: grasp: Right hand adjusts its fingers to stably grasp the wooden handle of the yellow mallet on the black mat."} +{"subtask_index": 1735, "subtask": "Right hand: lift_transport: Right hand lifts the yellow mallet off the black mat and moves it leftward towards the wooden peg board."} +{"subtask_index": 1736, "subtask": "Right hand: grasp: Right hand adjusts its fingers to stably grasp the wooden handle of the yellow mallet."} +{"subtask_index": 1737, "subtask": "Right hand: press: Right hand presses the yellow mallet downwards against the green peg on the wooden board to push the peg into the board."} +{"subtask_index": 1738, "subtask": "Right hand: lift: Right hand lifts the yellow mallet upwards away from the wooden board."} +{"subtask_index": 1739, "subtask": "Right hand: transport: Right hand holds the yellow mallet and moves it rightward above the black table."} +{"subtask_index": 1740, "subtask": "Right hand: place: Right hand places the yellow mallet onto the black table surface."} +{"subtask_index": 1741, "subtask": "Right hand: release: Right hand releases the yellow mallet with fingers opening."} +{"subtask_index": 1742, "subtask": "Right hand: reach: Right hand enters from the right edge of the frame and moves towards the yellow mallet on the black mat."} +{"subtask_index": 1743, "subtask": "Left hand: idle: Left hand remains empty at the left edge of the frame, with only its silver fingertips visible and no observable movement throughout the segment. | Right hand: idle: Right hand remains empty at the top-right edge of the frame without observable movement."} +{"subtask_index": 1744, "subtask": "Left hand: idle: Left hand remains empty at the left edge of the frame, with only its silver fingertips visible and no observable movement throughout the segment. | Right hand: reach: Right hand moves down and left from the top-right edge with an open hand, approaching the wooden handle of the yellow hammer placed on the black work surface."} +{"subtask_index": 1745, "subtask": "Left hand: idle: Left hand remains empty at the left edge of the frame, with only its silver fingertips visible and no observable movement throughout the segment. | Right hand: grasp: Right hand closes fingers around the wooden handle of the yellow hammer, adjusting finger positions to establish a stable grip on the handle."} +{"subtask_index": 1746, "subtask": "Left hand: idle: Left hand remains empty at the left edge of the frame, with only its silver fingertips visible and no observable movement throughout the segment. | Right hand: lift: Right hand lifts the grasped yellow hammer upward until the entire hammer is completely lifted off the black supporting surface."} +{"subtask_index": 1747, "subtask": "Left hand: idle: Left hand remains empty at the left edge of the frame, with only its silver fingertips visible and no observable movement throughout the segment. | Right hand: transport: Right hand carries the grasped yellow hammer left and upward through the air, moving it to the position above the red peg on the wooden peg toy."} +{"subtask_index": 1748, "subtask": "Left hand: idle: Left hand remains empty at the left edge of the frame, with only its silver fingertips visible and no observable movement throughout the segment. | Right hand: grasp: Right hand adjusts its fingers around the wooden handle of the yellow hammer to form a stable grip."} +{"subtask_index": 1749, "subtask": "Left hand: idle: Left hand remains empty at the left edge of the frame, with only its silver fingertips visible and no observable movement throughout the segment. | Right hand: other:repeated_small_up_and_down_movement: Right hand holds the yellow hammer and makes repeated small vertical up-and-down movements over the wooden platform."} +{"subtask_index": 1750, "subtask": "Left hand: idle: Left hand remains empty at the left edge of the frame, with only its silver fingertips visible and no observable movement throughout the segment. | Right hand: lift_transport: Right hand grips the wooden hammer handle, lifts the hammer fully off the wooden toy assembly, and carries the hammer horizontally rightward through the air toward the black mat to the right of the toy."} +{"subtask_index": 1751, "subtask": "Left hand: idle: Left hand remains empty at the left edge of the frame, with only its silver fingertips visible and no observable movement throughout the segment. | Right hand: place_release: Right hand lowers the wooden hammer onto the black mat surface until the hammer rests stably on the mat, with fingers opening to release contact with the hammer handle as the hammer settles."} +{"subtask_index": 1752, "subtask": "Left hand: idle: Left hand remains empty at the left edge of the frame, with only its silver fingertips visible and no observable movement throughout the segment. | Right hand: retreat: Empty right hand moves upward and away from the placed wooden hammer."} +{"subtask_index": 1753, "subtask": "Left hand: idle: Left hand remains empty at the left edge of the frame, with only its silver fingertips visible and no observable movement throughout the segment."} +{"subtask_index": 1754, "subtask": "Left hand: idle: Left hand remains empty at the left edge of the frame, with only its silver fingertips visible and no observable movement throughout the segment. | Right hand: reach: Right hand enters the frame from the top-right edge and moves downward toward the yellow mallet on the black work surface."} +{"subtask_index": 1755, "subtask": "Left hand: idle: Left hand remains partially visible at the far left edge of the frame, empty and stationary without contacting any operated object. | Right hand: reach: Right hand moves downward from the top-right edge of the frame toward the wooden handle of the yellow mallet, with fingers held slightly open, remaining empty and not making contact with the mallet."} +{"subtask_index": 1756, "subtask": "Left hand: idle: Left hand remains partially visible at the far left edge of the frame, empty and stationary without contacting any operated object. | Right hand: grasp: Right hand makes contact with the wooden handle of the yellow mallet, closing fingers around the handle and making small adjustments to finger positions to form a stable grip, with the mallet still resting on the black work surface."} +{"subtask_index": 1757, "subtask": "Left hand: idle: Left hand remains partially visible at the far left edge of the frame, empty and stationary without contacting any operated object. | Right hand: hold: Right hand holds the wooden handle of the yellow mallet in a stable grip, with no visible movement of the hand, fingers, or mallet, and the mallet remaining supported by the black work surface."} +{"subtask_index": 1758, "subtask": "Left hand: idle: Left hand remains partially visible at the far left edge of the frame, empty and stationary without contacting any operated object. | Right hand: lift_transport: Right hand firmly grips the wooden handle of the yellow-headed mallet, lifts the mallet completely off the black work surface, and moves it leftward toward the central wooden peg board."} +{"subtask_index": 1759, "subtask": "Left hand: idle: Left hand remains partially visible at the far left edge of the frame, empty and stationary without contacting any operated object. | Right hand: hold: Right hand holds the yellow-headed mallet steady above the wooden peg board, with no observable movement of the hand, fingers or the mallet."} +{"subtask_index": 1760, "subtask": "Left hand: idle: Left hand remains partially visible at the far left edge of the frame, empty and stationary without contacting any operated object. | Right hand: grasp: Right hand adjusts finger positions and tightens contact around the wooden mallet handle to establish a stable grip on the mallet resting on the wooden peg board."} +{"subtask_index": 1761, "subtask": "Left hand: idle: Left hand remains partially visible at the far left edge of the frame, empty and stationary without contacting any operated object. | Right hand: lift: Right hand lifts the grasped wooden mallet upward, raising the yellow mallet head completely off the green peg on the wooden board."} +{"subtask_index": 1762, "subtask": "Left hand: idle: Left hand remains partially visible at the far left edge of the frame, empty and stationary without contacting any operated object. | Right hand: transport_press: Right hand moves the grasped wooden mallet downward toward the green peg, applying downward pressure on the peg with the yellow mallet head upon contact."} +{"subtask_index": 1763, "subtask": "Left hand: idle: Left hand remains partially visible at the far left edge of the frame, empty and stationary without contacting any operated object. | Right hand: lift: Right hand grips the wooden mallet and lifts it upward until the mallet is fully separated from the wooden toy base."} +{"subtask_index": 1764, "subtask": "Left hand: idle: Left hand remains partially visible at the far left edge of the frame, empty and stationary without contacting any operated object. | Right hand: transport: Right hand carries the lifted wooden mallet horizontally rightward to the position above the right section of the black table surface."} +{"subtask_index": 1765, "subtask": "Left hand: idle: Left hand remains partially visible at the far left edge of the frame, empty and stationary without contacting any operated object. | Right hand: place: Right hand lowers the wooden mallet downward to place it on the black table surface, until the mallet is stably supported by the table."} +{"subtask_index": 1766, "subtask": "Left hand: idle: Left hand remains partially visible at the far left edge of the frame, empty and stationary without contacting any operated object. | Right hand: release: Right hand opens its fingers to release the wooden mallet resting on the table, separating the hand from the mallet surface."} +{"subtask_index": 1767, "subtask": "Left hand: idle: Left hand remains partially visible at the far left edge of the frame, empty and stationary without contacting any operated object. | Right hand: release_retreat: Right hand releases the wooden mallet handle and moves upward toward the top-right edge of the frame."} +{"subtask_index": 1768, "subtask": "Left hand: idle: Left hand remains partially visible at the far left edge of the frame, empty and stationary without contacting any operated object. | Right hand: idle: Right hand remains empty and stationary after exiting the top-right edge of the visible frame."} +{"subtask_index": 1769, "subtask": "Left hand: idle: Left hand remains partially visible at the far left edge of the frame, empty and stationary without contacting any operated object. | Right hand: reach: Right hand enters the frame from the top-right edge, moving downward toward the yellow wooden mallet with an open hand."} +{"subtask_index": 1770, "subtask": "Left hand: idle: Left hand remains empty at the left edge of the frame without observable movement. | Right hand: idle: Right hand remains empty near the top right edge of the frame without significant movement."} +{"subtask_index": 1771, "subtask": "Left hand: idle: Left hand remains empty at the left edge of the frame without observable movement. | Right hand: reach: Right hand moves downward toward the wooden handle of the yellow hammer, remaining empty as it approaches the target."} +{"subtask_index": 1772, "subtask": "Left hand: idle: Left hand remains empty at the left edge of the frame without observable movement. | Right hand: grasp: Right hand closes fingers around the wooden handle of the yellow hammer, adjusting finger positions to establish a grip on the handle."} +{"subtask_index": 1773, "subtask": "Left hand: idle: Left hand remains empty at the left edge of the frame without observable movement. | Right hand: grasp: Right hand adjusts its fingers to close around the wooden handle of the yellow mallet resting on the black work surface, forming a stable grasp."} +{"subtask_index": 1774, "subtask": "Left hand: idle: Left hand remains empty at the left edge of the frame without observable movement. | Right hand: lift_transport: Right hand lifts the grasped yellow mallet completely off the black work surface, moving it leftward to the position above the central wooden pegboard structure."} +{"subtask_index": 1775, "subtask": "Left hand: idle: Left hand remains empty at the left edge of the frame without observable movement. | Right hand: place: Right hand lowers the yellow mallet toward the work surface next to the wooden pegboard, until the mallet is supported by the black surface and the edge of the pegboard."} +{"subtask_index": 1776, "subtask": "Left hand: idle: Left hand remains empty at the left edge of the frame without observable movement. | Right hand: hold: Right hand holds the positioned yellow mallet steadily with no observable movement of the hand, fingers or the mallet."} +{"subtask_index": 1777, "subtask": "Left hand: idle: Left hand remains empty at the left edge of the frame without observable movement. | Right hand: grasp: Right hand adjusts finger positions on the wooden mallet handle to secure a stable grip on the mallet."} +{"subtask_index": 1778, "subtask": "Left hand: idle: Left hand remains empty at the left edge of the frame without observable movement. | Right hand: transport: Right hand moves the grasped wooden mallet slightly upward and forward to align the mallet head directly over the red peg on the wooden toy base."} +{"subtask_index": 1779, "subtask": "Left hand: idle: Left hand remains empty at the left edge of the frame without observable movement. | Right hand: hold: Right hand holds the wooden mallet completely stationary with the mallet head positioned above the red peg."} +{"subtask_index": 1780, "subtask": "Left hand: idle: Left hand remains empty at the left edge of the frame without observable movement. | Right hand: press: Right hand moves the wooden mallet vertically downward, pressing the mallet head against the red peg to push it partially into the wooden toy base."} +{"subtask_index": 1781, "subtask": "Left hand: idle: Left hand remains empty at the left edge of the frame without observable movement. | Right hand: hold: Right hand holds the wooden mallet stationary while the mallet head remains pressed against the red peg."} +{"subtask_index": 1782, "subtask": "Left hand: idle: Left hand remains empty at the left edge of the frame without observable movement. | Right hand: transport: Right hand lifts the wooden mallet slightly upward to reposition the mallet head above the red peg for the next pressing motion."} +{"subtask_index": 1783, "subtask": "Left hand: idle: Left hand remains empty at the left edge of the frame without observable movement. | Right hand: press: Right hand moves the wooden mallet vertically downward again, pressing the mallet head against the red peg to drive it further into the wooden toy base."} +{"subtask_index": 1784, "subtask": "Left hand: idle: Left hand remains empty at the left edge of the frame without observable movement. | Right hand: transport: Right hand lifts the wooden mallet slightly upward after completing the second downward pressing motion."} +{"subtask_index": 1785, "subtask": "Left hand: idle: Left hand remains empty at the left edge of the frame without observable movement. | Right hand: lift_transport: Right hand firmly grips the wooden mallet handle, lifts the mallet off the wooden peg toy, and transports it rightward through the air to the position above the black table surface to the right of the toy."} +{"subtask_index": 1786, "subtask": "Left hand: idle: Left hand remains empty at the left edge of the frame without observable movement. | Right hand: place_release: Right hand lowers the wooden mallet onto the black table surface and releases its grip on the mallet handle as the mallet settles on the surface."} +{"subtask_index": 1787, "subtask": "Left hand: idle: Left hand remains empty at the left edge of the frame without observable movement. | Right hand: retreat: Right hand moves upward and rightward, retreating away from the mallet placed on the table with an open, empty hand."} +{"subtask_index": 1788, "subtask": "Left hand: idle: Left hand remains empty at the left edge of the frame without observable movement."} +{"subtask_index": 1789, "subtask": "Right hand: reach: Right hand moves down-left from the right edge of the frame toward the yellow wooden hammer on the black mat."} +{"subtask_index": 1790, "subtask": "Right hand: grasp: Right hand grasps the handle of the yellow hammer, with fingers closing around the handle to adjust the grip."} +{"subtask_index": 1791, "subtask": "Right hand: grasp: Right hand grasps the wooden handle of the mallet on the black textured mat, with fingers closing and adjusting to form a stable grip."} +{"subtask_index": 1792, "subtask": "Right hand: hold: Right hand holds the wooden handle of the mallet on the black textured mat without moving."} +{"subtask_index": 1793, "subtask": "Right hand: lift: Right hand lifts the wooden mallet upward until it fully leaves the black mat surface."} +{"subtask_index": 1794, "subtask": "Right hand: transport: Right hand transports the wooden mallet leftward to the area above the wooden peg toy."} +{"subtask_index": 1795, "subtask": "Right hand: hold: Right hand holds the wooden mallet steady above the wooden peg toy without moving."} +{"subtask_index": 1796, "subtask": "Right hand: press: Right hand holds the wooden mallet and presses the peg on the wooden toy board downward."} +{"subtask_index": 1797, "subtask": "Right hand: transport: Right hand holds the wooden mallet and moves it upward and leftward above the toy board."} +{"subtask_index": 1798, "subtask": "Right hand: transport: Right hand holds the wooden mallet and moves it upward away from the toy board."} +{"subtask_index": 1799, "subtask": "Right hand: transport: Right hand transports the yellow-headed mallet rightward away from the peg toy in mid-air."} +{"subtask_index": 1800, "subtask": "Right hand: place: Right hand places the yellow-headed mallet onto the black textured mat."} +{"subtask_index": 1801, "subtask": "Right hand: release: Right hand releases the mallet, with fingers opening and separating from the wooden handle of the mallet."} +{"subtask_index": 1802, "subtask": "Right hand: release: Right hand releases the mallet handle on the black textured mat, with fingers opening to separate from the mallet."} +{"subtask_index": 1803, "subtask": "Right hand: retreat: Right hand moves rightward and upward away from the mallet until it exits the right edge of the frame."} +{"subtask_index": 1804, "subtask": "Right hand: reach: Right hand moves down-left toward the yellow-headed wooden hammer placed on the right of the wooden board."} +{"subtask_index": 1805, "subtask": "Right hand: grasp: Right hand adjusts its fingers to form a stable grasp on the wooden handle of the yellow-headed hammer."} +{"subtask_index": 1806, "subtask": "Right hand: lift: Right hand lifts the yellow-headed wooden hammer off the black mat surface."} +{"subtask_index": 1807, "subtask": "Right hand: grasp: Right hand adjusts its grip on the yellow hammer with wooden handle on the black mat."} +{"subtask_index": 1808, "subtask": "Right hand: lift: Right hand lifts the yellow hammer upwards off the black mat."} +{"subtask_index": 1809, "subtask": "Right hand: transport: Right hand moves the yellow hammer to the position above the green peg on the wooden board."} +{"subtask_index": 1810, "subtask": "Right hand: press: Right hand holds the wooden hammer and presses it downward onto the red peg on the wooden base."} +{"subtask_index": 1811, "subtask": "Right hand: hold: Right hand holds the wooden hammer in contact with the red peg without moving."} +{"subtask_index": 1812, "subtask": "Right hand: transport: Right hand moves the wooden hammer upward away from the red peg."} +{"subtask_index": 1813, "subtask": "Right hand: transport: Right hand transports the wooden hammer to position it above the red peg on the peg toy."} +{"subtask_index": 1814, "subtask": "Right hand: hold: Right hand holds the wooden hammer steady above the red peg on the peg toy without moving."} +{"subtask_index": 1815, "subtask": "Right hand: lift: Right hand lifts the wooden hammer off the black table surface."} +{"subtask_index": 1816, "subtask": "Right hand: transport: Right hand transports the lifted wooden hammer backward."} +{"subtask_index": 1817, "subtask": "Right hand: transport: Right hand transports the yellow-headed wooden hammer down-right above the black mat."} +{"subtask_index": 1818, "subtask": "Right hand: place_release: Right hand places the yellow-headed wooden hammer on the black mat and releases its grip on the hammer."} +{"subtask_index": 1819, "subtask": "Right hand: reach: Right hand enters from the top-right of the frame, moves downward with an open hand toward the wooden handle of the mallet, remaining out of contact with the mallet."} +{"subtask_index": 1820, "subtask": "Right hand: grasp: Right hand makes contact with the wooden handle of the mallet, closes its fingers around the handle and makes small adjustments to finger positions to establish a stable grip, while the mallet remains resting on the black supporting surface."} +{"subtask_index": 1821, "subtask": "Right hand: hold: Right hand maintains a stable grip on the wooden handle of the mallet, remaining completely stationary with no visible movement of the hand, fingers or mallet, while the mallet head stays in contact with the supporting surface."} +{"subtask_index": 1822, "subtask": "Right hand: lift: Right hand moves upward to lift the grasped wooden mallet, rotating the wrist slightly until the mallet is completely lifted off the work surface."} +{"subtask_index": 1823, "subtask": "Right hand: transport: Right hand transports the lifted wooden mallet upward and leftward toward the wooden peg toy, rotating the mallet to a near-vertical orientation during movement."} +{"subtask_index": 1824, "subtask": "Right hand: grasp: Right hand adjusts finger positions around the light wooden mallet handle to stabilize grip, with slight finger movements to reposition contact points on the handle."} +{"subtask_index": 1825, "subtask": "Right hand: press: Right hand holds the wooden mallet, moves it slightly downward to make the yellow mallet head tap the red peg on the wooden base, applying vertical downward pressure."} +{"subtask_index": 1826, "subtask": "Right hand: hold: Right hand holds the wooden mallet steady above the red peg, with no visible movement of the hand, fingers or mallet."} +{"subtask_index": 1827, "subtask": "Right hand: press: Right hand holds the wooden mallet and moves it slightly downward to make the yellow mallet head tap the red peg, applying vertical downward pressure."} +{"subtask_index": 1828, "subtask": "Right hand: lift: Right hand grips the wooden mallet, lifting it upward off the wooden toy structure until the mallet is fully separated from the original support."} +{"subtask_index": 1829, "subtask": "Right hand: transport: Right hand carries the lifted wooden mallet toward the right side of the black table surface, rotating the mallet slightly to a horizontal orientation during movement."} +{"subtask_index": 1830, "subtask": "Right hand: place: Right hand lowers the wooden mallet until the mallet rests steadily on the right area of the black table surface."} +{"subtask_index": 1831, "subtask": "Right hand: release: Right hand opens its fingers to release the grip on the wooden mallet handle, fully separating the hand from the mallet."} +{"subtask_index": 1832, "subtask": "Right hand: retreat: Right hand moves empty upward and away from the placed wooden mallet."} +{"subtask_index": 1833, "subtask": "Right hand: reach: Right hand moves downward and left from the top right of the frame towards the yellow hammer on the black mat."} +{"subtask_index": 1834, "subtask": "Right hand: grasp: Right hand adjusts its fingers and position to grasp the wooden handle of the yellow hammer, with fingers closing around the handle to form stable grip."} +{"subtask_index": 1835, "subtask": "Right hand: grasp: Right hand grasps the wooden handle of the yellow hammer on the black mat."} +{"subtask_index": 1836, "subtask": "Right hand: lift: Right hand lifts the yellow hammer up from the black mat."} +{"subtask_index": 1837, "subtask": "Right hand: transport: Right hand moves the yellow hammer above the red peg on the center of the wooden board."} +{"subtask_index": 1838, "subtask": "Right hand: transport: Right hand transports the yellow-headed hammer away from the pegboard towards the right side."} +{"subtask_index": 1839, "subtask": "Right hand: place_release: Right hand places the yellow-headed hammer onto the black table surface and releases its grip on the hammer handle."} +{"subtask_index": 1840, "subtask": "Right hand: retreat: Right hand retreats towards the upper right direction away from the placed hammer."} +{"subtask_index": 1841, "subtask": "Right hand: reach: Right hand enters from the top-right edge of the frame and moves downward toward the wooden handle of the yellow hammer, staying empty."} +{"subtask_index": 1842, "subtask": "Right hand: grasp: Right hand closes fingers around the wooden handle of the yellow hammer, adjusting finger positions to establish contact with the handle that rests on the black mat."} +{"subtask_index": 1843, "subtask": "Right hand: lift: Right hand grips the wooden handle of the yellow hammer and moves upward, lifting the yellow hammer head partially off the black mat while the lower end of the handle remains in contact with the mat."} +{"subtask_index": 1844, "subtask": "Right hand: lift: Right hand lifts the grasped wooden mallet upward from the black work mat, with the yellow mallet head facing left initially, and the mallet fully separates from the mat surface by the end of the motion."} +{"subtask_index": 1845, "subtask": "Right hand: transport: Right hand carries the lifted wooden mallet toward the central wooden peg toy, rotating the mallet about a quarter turn to point the yellow mallet head downward as it moves."} +{"subtask_index": 1846, "subtask": "Right hand: hold: Right hand holds the wooden mallet stationary with the yellow mallet head facing downward, positioned above the wooden peg toy."} +{"subtask_index": 1847, "subtask": "Right hand: grasp: Right hand makes slight positional and rotational adjustments to fingers and wrist while contacting the wooden mallet handle, refining its grip on the handle."} +{"subtask_index": 1848, "subtask": "Right hand: hold: Right hand holds the wooden mallet handle steadily, with no observable movement of the hand, fingers, wrist or the mallet."} +{"subtask_index": 1849, "subtask": "Right hand: grasp: Right hand makes slight positional and rotational adjustments to its wrist and fingers, readjusting its grip on the wooden mallet handle."} +{"subtask_index": 1850, "subtask": "Right hand: lift: Right hand grips the wooden mallet, lifts it upward until the mallet is fully raised off the wooden toy structure and the black table surface."} +{"subtask_index": 1851, "subtask": "Right hand: transport: Right hand holds the suspended wooden mallet, moves it horizontally rightward across the table toward the right resting position."} +{"subtask_index": 1852, "subtask": "Right hand: place_release: Right hand lowers the wooden mallet to the right black table surface, opens fingers to release the mallet so it rests stably on the table."} +{"subtask_index": 1853, "subtask": "Right hand: return_home: Right hand moves empty upward and rightward to return to its resting home position at the top right of the frame."} +{"subtask_index": 1854, "subtask": "Right hand: reach: Right hand moves from the upper right of the frame toward the handle of the yellow hammer on the black mat."} +{"subtask_index": 1855, "subtask": "Right hand: grasp: Right hand contacts the handle of the yellow hammer and closes fingers to establish grasp."} +{"subtask_index": 1856, "subtask": "Right hand: grasp: Right hand adjusts its fingers to form a stable grasp on the wooden handle of the yellow mallet placed on the black mat."} +{"subtask_index": 1857, "subtask": "Right hand: lift: Right hand lifts the yellow mallet off the black mat by its wooden handle."} +{"subtask_index": 1858, "subtask": "Right hand: transport: Right hand moves the grasped yellow mallet upward and leftward above the black mat."} +{"subtask_index": 1859, "subtask": "Right hand: transport: Right hand transports the yellow mallet to the position above the red peg on the wooden toy."} +{"subtask_index": 1860, "subtask": "Right hand: press: Right hand presses the red peg on the wooden toy with the yellow mallet."} +{"subtask_index": 1861, "subtask": "Right hand: transport: Right hand lifts the yellow mallet slightly and adjusts its position above the red peg."} +{"subtask_index": 1862, "subtask": "Right hand: hold: Right hand holds the yellow mallet steady above the red peg without moving."} +{"subtask_index": 1863, "subtask": "Right hand: lift: Right hand lifts the yellow mallet away from the wooden perforated board."} +{"subtask_index": 1864, "subtask": "Right hand: transport: Right hand transports the yellow mallet towards the right side of the wooden perforated board."} +{"subtask_index": 1865, "subtask": "Right hand: release: Right hand releases the yellow mallet onto the black table surface."} +{"subtask_index": 1866, "subtask": "Right hand: reach: Right hand moves left from the right edge of the frame toward the yellow hammer on the black mat."} +{"subtask_index": 1867, "subtask": "Right hand: grasp: Right hand closes its fingers to grasp the wooden handle of the yellow hammer on the black mat."} +{"subtask_index": 1868, "subtask": "Right hand: lift: Right hand lifts the yellow hammer off the black textured mat."} +{"subtask_index": 1869, "subtask": "Right hand: transport: Right hand transports the yellow hammer left toward the green peg on the wooden board."} +{"subtask_index": 1870, "subtask": "Right hand: place: Right hand places the yellow hammer onto the green peg on the wooden board."} +{"subtask_index": 1871, "subtask": "Right hand: hold: Right hand holds the yellow hammer with its head resting on the yellow peg above the green peg without moving."} +{"subtask_index": 1872, "subtask": "Right hand: lift: Right hand lifts the yellow hammer upward away from the yellow peg on the wooden base."} +{"subtask_index": 1873, "subtask": "Right hand: press: Right hand moves the yellow hammer downward to press the yellow peg, driving the green peg into the wooden base."} +{"subtask_index": 1874, "subtask": "Right hand: lift: Right hand lifts the yellow hammer upward slightly away from the yellow peg."} +{"subtask_index": 1875, "subtask": "Right hand: press: Right hand moves the yellow hammer downward to press the yellow peg again, further driving the green peg into the wooden base."} +{"subtask_index": 1876, "subtask": "Right hand: lift: Right hand lifts the yellow hammer upward fully away from the yellow peg."} +{"subtask_index": 1877, "subtask": "Right hand: transport: Right hand moves the lifted yellow hammer rightward away from the wooden base."} +{"subtask_index": 1878, "subtask": "Right hand: transport: Right hand transports the yellow hammer with wooden handle rightward above the black mat."} +{"subtask_index": 1879, "subtask": "Right hand: place_release: Right hand places the yellow hammer onto the black mat and releases the grip on the hammer handle."} +{"subtask_index": 1880, "subtask": "Right hand: retreat: Right hand retracts away from the yellow hammer placed on the black mat."} +{"subtask_index": 1881, "subtask": "Right hand: reach_grasp: Right hand enters the frame from the top right corner, moves towards the yellow hammer on the black mat, and touches the hammer to start grasping."} +{"subtask_index": 1882, "subtask": "Right hand: reach: Right hand enters from the top right of the frame and moves toward the yellow hammer on the black mat."} +{"subtask_index": 1883, "subtask": "Right hand: grasp: Right hand contacts the handle of the yellow hammer, with fingers adjusting to form a stable grip on the hammer."} +{"subtask_index": 1884, "subtask": "Right hand: grasp: Right hand adjusts its grip on the wooden handle of the yellow hammer by slightly moving fingers to form a stable grasp."} +{"subtask_index": 1885, "subtask": "Right hand: grasp: Right hand adjusts grip on the wooden handle of the yellow hammer to establish stable grasp."} +{"subtask_index": 1886, "subtask": "Right hand: lift: Right hand lifts the yellow hammer up from the black mat surface."} +{"subtask_index": 1887, "subtask": "Right hand: transport: Right hand transports the yellow hammer leftward to the position above the wooden pegboard."} +{"subtask_index": 1888, "subtask": "Right hand: lift: Right hand lifts the yellow hammer upward away from the wooden base."} +{"subtask_index": 1889, "subtask": "Right hand: transport: Right hand transports the yellow hammer to the position above the green peg on the wooden base."} +{"subtask_index": 1890, "subtask": "Right hand: mate: Right hand aligns the yellow head of the hammer with the top of the green peg."} +{"subtask_index": 1891, "subtask": "Right hand: press: Right hand presses the green peg downward using the yellow head of the hammer."} +{"subtask_index": 1892, "subtask": "Right hand: lift_transport: Right hand lifts the yellow hammer from the wooden base and transports it towards the right side of the black textured mat."} +{"subtask_index": 1893, "subtask": "Right hand: place: Right hand moves downward to place the yellow hammer onto the black textured mat surface."} +{"subtask_index": 1894, "subtask": "Right hand: release: Right hand opens its fingers to release the yellow hammer and moves slightly upward away from the hammer."} +{"subtask_index": 1895, "subtask": "Left hand: idle: Left hand stays partially visible at the far left edge of the frame, remains empty, and shows no observable movement or contact with any operated object throughout the segment. | Right hand: reach: Right hand starts outside the right edge of the frame, enters the view from the right, remains empty, and moves leftward toward the wooden-handled hammer to the right of the wooden peg toy, without contacting the hammer."} +{"subtask_index": 1896, "subtask": "Left hand: idle: Left hand stays partially visible at the far left edge of the frame, remains empty, and shows no observable movement or contact with any operated object throughout the segment. | Right hand: grasp: Right hand contacts the wooden handle of the hammer, fingers gradually close and adjust their positions along with slight wrist repositioning to form a stable grip, while the hammer remains resting on the black supporting surface."} +{"subtask_index": 1897, "subtask": "Left hand: idle: Left hand stays partially visible at the far left edge of the frame, remains empty, and shows no observable movement or contact with any operated object throughout the segment. | Right hand: grasp: Right hand adjusts its fingers around the wooden handle of the yellow hammer lying flat on the black work surface to form a stable grasp."} +{"subtask_index": 1898, "subtask": "Left hand: idle: Left hand stays partially visible at the far left edge of the frame, remains empty, and shows no observable movement or contact with any operated object throughout the segment. | Right hand: transport: Right hand moves the grasped yellow hammer leftward in an upward arcing path, lifting the yellow hammer head off the black work surface while sliding the distal tip of the wooden handle along the surface, to position the hammer head over the wooden peg board."} +{"subtask_index": 1899, "subtask": "Left hand: idle: Left hand stays partially visible at the far left edge of the frame, remains empty, and shows no observable movement or contact with any operated object throughout the segment. | Right hand: place: Right hand lowers the yellow hammer vertically downward to rest its yellow head on the target peg atop the wooden peg board."} +{"subtask_index": 1900, "subtask": "Left hand: idle: Left hand stays partially visible at the far left edge of the frame, remains empty, and shows no observable movement or contact with any operated object throughout the segment. | Right hand: hold: Right hand holds the positioned yellow hammer stationary, with its head resting on the wooden peg and handle tip touching the black work surface, without observable movement."} +{"subtask_index": 1901, "subtask": "Left hand: idle: Left hand stays partially visible at the far left edge of the frame, remains empty, and shows no observable movement or contact with any operated object throughout the segment. | Right hand: press: Right hand grips the wooden handle of the yellow hammer, moves vertically downward to apply downward pressure on the red peg placed on the light brown perforated wooden block."} +{"subtask_index": 1902, "subtask": "Left hand: idle: Left hand stays partially visible at the far left edge of the frame, remains empty, and shows no observable movement or contact with any operated object throughout the segment."} +{"subtask_index": 1903, "subtask": "Left hand: idle: Left hand stays partially visible at the far left edge of the frame, remains empty, and shows no observable movement or contact with any operated object throughout the segment. | Right hand: grasp: Right hand adjusts finger positions to tighten its grip on the wooden hammer handle to form a stable hold."} +{"subtask_index": 1904, "subtask": "Left hand: idle: Left hand stays partially visible at the far left edge of the frame, remains empty, and shows no observable movement or contact with any operated object throughout the segment. | Right hand: lift_reorient: Right hand slightly lifts the hammer head off the wooden supporting base, and tilts the hammer toward the right to rotate it to a near-horizontal orientation."} +{"subtask_index": 1905, "subtask": "Left hand: idle: Left hand stays partially visible at the far left edge of the frame, remains empty, and shows no observable movement or contact with any operated object throughout the segment. | Right hand: hold: Right hand holds the wooden hammer without movement, with the yellow hammer head resting horizontally on the wooden base."} +{"subtask_index": 1906, "subtask": "Left hand: idle: Left hand stays partially visible at the far left edge of the frame, remains empty, and shows no observable movement or contact with any operated object throughout the segment. | Right hand: reorient: Right hand rotates its wrist to further tilt the hammer toward the right, lifting the hammer head off the wooden base."} +{"subtask_index": 1907, "subtask": "Left hand: idle: Left hand stays partially visible at the far left edge of the frame, remains empty, and shows no observable movement or contact with any operated object throughout the segment. | Right hand: lift_transport: Right hand grips the wooden handle of the yellow hammer, lifts it off the wooden peg toy, and moves it downward to the right over the black work surface."} +{"subtask_index": 1908, "subtask": "Left hand: idle: Left hand stays partially visible at the far left edge of the frame, remains empty, and shows no observable movement or contact with any operated object throughout the segment. | Right hand: place_release: Right hand places the yellow hammer onto the right side of the black work surface and opens its fingers to release the hammer handle."} +{"subtask_index": 1909, "subtask": "Left hand: idle: Left hand stays partially visible at the far left edge of the frame, remains empty, and shows no observable movement or contact with any operated object throughout the segment. | Right hand: retreat: Empty right hand moves upward away from the yellow hammer resting on the work surface."} +{"subtask_index": 1910, "subtask": "Right hand: reach: Right hand moves down and left from the right edge of the frame toward the yellow hammer with wooden handle on the black mat."} +{"subtask_index": 1911, "subtask": "Right hand: grasp: Right hand closes and adjusts fingers around the wooden handle of the yellow hammer to form a stable grasp."} +{"subtask_index": 1912, "subtask": "Right hand: grasp: Right hand adjusts its grip on the wooden handle of the yellow hammer placed on the black mat."} +{"subtask_index": 1913, "subtask": "Right hand: transport: Right hand transports the yellow hammer left toward the green peg on the wooden peg board."} +{"subtask_index": 1914, "subtask": "Right hand: hold: Right hand holds the yellow hammer above the green peg on the wooden peg board without moving."} +{"subtask_index": 1915, "subtask": "Right hand: grasp: Right hand adjusts its grip on the wooden handle of the yellow-headed hammer."} +{"subtask_index": 1916, "subtask": "Right hand: other:hit_green_peg: Right hand lifts the yellow-headed hammer and strikes the green peg on the wooden base."} +{"subtask_index": 1917, "subtask": "Right hand: other:hit_green_peg: Right hand lifts the yellow-headed hammer and strikes the green peg on the wooden base again."} +{"subtask_index": 1918, "subtask": "Right hand: hold: Right hand holds the yellow-headed hammer still above the wooden base."} +{"subtask_index": 1919, "subtask": "Right hand: lift: Right hand lifts the wooden hammer with yellow head off the wooden plate."} +{"subtask_index": 1920, "subtask": "Right hand: transport: Right hand moves the held hammer towards the right rear area of the black mat."} +{"subtask_index": 1921, "subtask": "Right hand: place_release: Right hand places the hammer on the right rear black mat and releases its grip on the hammer."} +{"subtask_index": 1922, "subtask": "Right hand: retreat: Right hand moves away from the hammer placed on the black mat."} +{"subtask_index": 1923, "subtask": "Right hand: reach: Right hand moves downward from the top right edge of the frame towards the yellow hammer placed on the black mat."} +{"subtask_index": 1924, "subtask": "Right hand: grasp: Right hand adjusts its fingers to form a stable grasp on the wooden handle of the yellow hammer placed on the black tabletop."} +{"subtask_index": 1925, "subtask": "Right hand: lift_transport: Right hand lifts the yellow hammer off the tabletop and transports it leftward toward the wooden peg toy."} +{"subtask_index": 1926, "subtask": "Right hand: press: Right hand presses the yellow hammer downward to hit the green peg on the wooden base."} +{"subtask_index": 1927, "subtask": "Right hand: transport: Right hand moves the yellow hammer upward away from the green peg."} +{"subtask_index": 1928, "subtask": "Right hand: place_release: Right hand places the yellow hammer on the black mat and releases its grip on the hammer handle."} +{"subtask_index": 1929, "subtask": "Left hand: idle: Left hand remains empty and stationary at the far left edge of the frame, with no visible movement or contact with any objects. | Right hand: reach: Right hand moves downward empty from the top-right edge of the frame toward the light brown wooden handle of the wooden mallet, without making contact with the mallet."} +{"subtask_index": 1930, "subtask": "Left hand: idle: Left hand remains empty and stationary at the far left edge of the frame, with no visible movement or contact with any objects. | Right hand: grasp: Right hand makes contact with the wooden mallet's handle, closes fingers around the handle and makes slight adjustments to finger and wrist positions to form a grip, with the mallet remaining on the black table surface."} +{"subtask_index": 1931, "subtask": "Left hand: idle: Left hand remains empty and stationary at the far left edge of the frame, with no visible movement or contact with any objects. | Right hand: lift: Right hand grips the wooden mallet handle and lifts the mallet upward until the entire mallet is completely off the black supporting surface."} +{"subtask_index": 1932, "subtask": "Left hand: idle: Left hand remains empty and stationary at the far left edge of the frame, with no visible movement or contact with any objects. | Right hand: transport: Right hand carries the lifted wooden mallet leftward, with minor finger adjustments on the handle, moving the yellow mallet head to the position above the wooden peg platform."} +{"subtask_index": 1933, "subtask": "Left hand: idle: Left hand remains empty and stationary at the far left edge of the frame, with no visible movement or contact with any objects."} +{"subtask_index": 1934, "subtask": "Left hand: idle: Left hand remains empty and stationary at the far left edge of the frame, with no visible movement or contact with any objects. | Right hand: lift: Right hand grips the wooden mallet and lifts it upward off the supporting black work surface and wooden toy."} +{"subtask_index": 1935, "subtask": "Left hand: idle: Left hand remains empty and stationary at the far left edge of the frame, with no visible movement or contact with any objects. | Right hand: transport: Right hand carries the gripped wooden mallet horizontally toward the right side of the black work surface."} +{"subtask_index": 1936, "subtask": "Left hand: idle: Left hand remains empty and stationary at the far left edge of the frame, with no visible movement or contact with any objects. | Right hand: place_release: Right hand lowers the wooden mallet onto the right section of the black work surface, opening fingers to release contact with the mallet."} +{"subtask_index": 1937, "subtask": "Left hand: idle: Left hand remains empty and stationary at the far left edge of the frame, with no visible movement or contact with any objects. | Right hand: retreat: Right hand moves upward away from the released mallet while staying empty."} +{"subtask_index": 1938, "subtask": "Left hand: idle: Left hand remains empty and stationary at the far left edge of the frame, with no visible movement or contact with any objects. | Right hand: reach_grasp: Right hand moves down from the top-right frame edge toward the yellow mallet, with fingers closing to grasp the yellow head of the mallet."} +{"subtask_index": 1939, "subtask": "Left hand: idle: Left hand remains empty with no visible movement or object interaction throughout the segment, only partially visible at the top-left edge during the earliest frames. | Right hand: idle: Right hand remains empty at the top-right edge of the frame without any visible movement."} +{"subtask_index": 1940, "subtask": "Left hand: idle: Left hand remains empty with no visible movement or object interaction throughout the segment, only partially visible at the top-left edge during the earliest frames. | Right hand: reach: Right hand moves downward from the top-right edge of the frame toward the wooden handle of the yellow mallet, with fingers held in an open position."} +{"subtask_index": 1941, "subtask": "Left hand: idle: Left hand remains empty with no visible movement or object interaction throughout the segment, only partially visible at the top-left edge during the earliest frames. | Right hand: grasp: Right hand closes fingers around the wooden handle of the yellow mallet, making slight contact adjustments to establish a stable grip on the handle."} +{"subtask_index": 1942, "subtask": "Left hand: idle: Left hand remains empty with no visible movement or object interaction throughout the segment, only partially visible at the top-left edge during the earliest frames. | Right hand: lift: Right hand grips the wooden handle of the yellow mallet and lifts it upward until the entire mallet is fully separated from the black supporting mat."} +{"subtask_index": 1943, "subtask": "Left hand: idle: Left hand remains empty with no visible movement or object interaction throughout the segment, only partially visible at the top-left edge during the earliest frames. | Right hand: transport_place: Right hand carries the yellow mallet leftward to the position above the wooden workbench and lowers the mallet to rest its yellow head on the red peg atop the workbench while maintaining grip on the handle."} +{"subtask_index": 1944, "subtask": "Left hand: idle: Left hand remains empty with no visible movement or object interaction throughout the segment, only partially visible at the top-left edge during the earliest frames. | Right hand: grasp: Right hand adjusts finger contact positions and wrist posture on the wooden mallet handle, making small movements to tighten the grip and establish a stable hold on the mallet."} +{"subtask_index": 1945, "subtask": "Left hand: idle: Left hand remains empty with no visible movement or object interaction throughout the segment, only partially visible at the top-left edge during the earliest frames. | Right hand: transport: Right hand holds the mallet handle with a stable grip, moving the mallet vertically upward along the hole in the wooden base."} +{"subtask_index": 1946, "subtask": "Left hand: idle: Left hand remains empty with no visible movement or object interaction throughout the segment, only partially visible at the top-left edge during the earliest frames. | Right hand: transport: Right hand holds the mallet handle with a stable grip, moving the mallet vertically downward along the hole in the wooden base."} +{"subtask_index": 1947, "subtask": "Left hand: idle: Left hand remains empty with no visible movement or object interaction throughout the segment, only partially visible at the top-left edge during the earliest frames. | Right hand: hold: Right hand holds the wooden mallet handle steadily without observable movement, with the mallet resting against the wooden base."} +{"subtask_index": 1948, "subtask": "Left hand: idle: Left hand remains empty with no visible movement or object interaction throughout the segment, only partially visible at the top-left edge during the earliest frames. | Right hand: lift: Right hand holds the wooden mallet and lifts it upward away from the wooden peg toy, keeping fingers closed around the light wooden mallet handle."} +{"subtask_index": 1949, "subtask": "Left hand: idle: Left hand remains empty with no visible movement or object interaction throughout the segment, only partially visible at the top-left edge during the earliest frames. | Right hand: transport: Right hand holds the fully lifted wooden mallet and moves it horizontally rightward across the black textured mat toward the right side of the workspace."} +{"subtask_index": 1950, "subtask": "Left hand: idle: Left hand remains empty with no visible movement or object interaction throughout the segment, only partially visible at the top-left edge during the earliest frames. | Right hand: place_release: Right hand lowers the wooden mallet to rest on the right section of the black mat, opens fingers to release grip on the mallet handle, fully separating the hand from the mallet."} +{"subtask_index": 1951, "subtask": "Left hand: idle: Left hand remains empty with no visible movement or object interaction throughout the segment, only partially visible at the top-left edge during the earliest frames. | Right hand: retreat: Right hand, empty after releasing the mallet, moves upward and rightward away from the resting mallet toward the top-right edge of the frame."} +{"subtask_index": 1952, "subtask": "Left hand: idle: Left hand remains empty with no visible movement or object interaction throughout the segment, only partially visible at the top-left edge during the earliest frames."} +{"subtask_index": 1953, "subtask": "Right hand: reach: Right hand enters from the right edge of the frame and moves toward the yellow hammer with wooden handle on the black mat."} +{"subtask_index": 1954, "subtask": "Right hand: reach_grasp: Right hand moves towards the wooden handle of the yellow hammer on the black textured mat and closes its fingers to grasp the handle."} +{"subtask_index": 1955, "subtask": "Right hand: lift: Right hand lifts the yellow hammer upward until it completely leaves the black mat surface."} +{"subtask_index": 1956, "subtask": "Right hand: transport: Right hand transports the yellow hammer to the position above the green peg on the wooden board."} +{"subtask_index": 1957, "subtask": "Right hand: grasp: Right hand adjusts its grip on the yellow hammer with wooden handle, fingers slightly move to stabilize the grasp."} +{"subtask_index": 1958, "subtask": "Right hand: other:hit: Right hand lifts the yellow hammer and hits the green peg on the wooden peg board, driving the peg into the board."} +{"subtask_index": 1959, "subtask": "Right hand: grasp: Right hand adjusts its grip and position of the yellow hammer to prepare for the next hit."} +{"subtask_index": 1960, "subtask": "Right hand: other:hit: Right hand lifts the yellow hammer and hits the green peg on the wooden peg board again to push it further into the board."} +{"subtask_index": 1961, "subtask": "Right hand: hold: Right hand holds the yellow hammer without moving, staying at the position after the second hit."} +{"subtask_index": 1962, "subtask": "Right hand: other:hit: Right hand lifts the yellow hammer and hits the green peg on the wooden peg board for the third time."} +{"subtask_index": 1963, "subtask": "Right hand: transport: Right hand moves the yellow hammer slightly away from the wooden peg board after the last hit."} +{"subtask_index": 1964, "subtask": "Right hand: transport: Right hand transports the yellow hammer with wooden handle moving rightwards away from the small wooden bench."} +{"subtask_index": 1965, "subtask": "Right hand: place: Right hand places the yellow hammer onto the black textured mat on the right side of the small wooden bench."} +{"subtask_index": 1966, "subtask": "Right hand: release: Right hand releases the yellow hammer by opening fingers to separate from the hammer handle."} +{"subtask_index": 1967, "subtask": "Right hand: retreat: Right hand moves away from the yellow hammer towards the upper right direction."} +{"subtask_index": 1968, "subtask": "Left hand: idle: Left hand has no observable movement or contact with any operated object in the frame, remaining empty. | Right hand: idle: Right hand remains empty at the top-right edge of the frame without observable movement."} +{"subtask_index": 1969, "subtask": "Left hand: idle: Left hand has no observable movement or contact with any operated object in the frame, remaining empty. | Right hand: reach: Right hand moves downward from the top-right of the frame toward the wooden handle of the yellow mallet, with fingers held slightly open."} +{"subtask_index": 1970, "subtask": "Left hand: idle: Left hand has no observable movement or contact with any operated object in the frame, remaining empty. | Right hand: grasp: Right hand closes fingers around the wooden handle of the yellow mallet, making slight finger adjustments to establish stable contact with the handle."} +{"subtask_index": 1971, "subtask": "Left hand: idle: Left hand has no observable movement or contact with any operated object in the frame, remaining empty. | Right hand: hold: Right hand holds the wooden mallet resting on the black work surface without moving."} +{"subtask_index": 1972, "subtask": "Left hand: idle: Left hand has no observable movement or contact with any operated object in the frame, remaining empty. | Right hand: lift: Right hand lifts the grasped wooden mallet upward to completely raise it off the black work surface."} +{"subtask_index": 1973, "subtask": "Left hand: idle: Left hand has no observable movement or contact with any operated object in the frame, remaining empty. | Right hand: transport: Right hand transports the lifted wooden mallet slightly upward and leftward toward the wooden peg board, rotating the wrist slightly to adjust the mallet to a near-vertical orientation with the yellow head facing downward."} +{"subtask_index": 1974, "subtask": "Left hand: idle: Left hand has no observable movement or contact with any operated object in the frame, remaining empty. | Right hand: hold: Right hand holds the adjusted wooden mallet stationary with the yellow head positioned directly above the red peg on the wooden block."} +{"subtask_index": 1975, "subtask": "Left hand: idle: Left hand has no observable movement or contact with any operated object in the frame, remaining empty. | Right hand: grasp: Right hand closes fingers around the wooden mallet handle, adjusting contact positions to form a stable grasp."} +{"subtask_index": 1976, "subtask": "Left hand: idle: Left hand has no observable movement or contact with any operated object in the frame, remaining empty. | Right hand: press: Right hand holds the wooden mallet and presses it straight downward onto the wooden peg on the wooden base, applying downward vertical force."} +{"subtask_index": 1977, "subtask": "Left hand: idle: Left hand has no observable movement or contact with any operated object in the frame, remaining empty. | Right hand: lift: Right hand holds the wooden mallet with a yellow head, lifting it upward to separate it from the wooden pegboard below."} +{"subtask_index": 1978, "subtask": "Left hand: idle: Left hand has no observable movement or contact with any operated object in the frame, remaining empty. | Right hand: transport: Right hand carries the lifted wooden mallet, moving it horizontally rightward across the black work surface away from the pegboard."} +{"subtask_index": 1979, "subtask": "Left hand: idle: Left hand has no observable movement or contact with any operated object in the frame, remaining empty. | Right hand: place_release: Right hand lowers the wooden mallet until its yellow head contacts the black work surface, fingers opening to release grip on the wooden handle."} +{"subtask_index": 1980, "subtask": "Left hand: idle: Left hand has no observable movement or contact with any operated object in the frame, remaining empty. | Right hand: retreat: Right hand moves empty upward and rightward, retreating away from the mallet resting on the work surface."} +{"subtask_index": 1981, "subtask": "Left hand: idle: Left hand has no observable movement or contact with any operated object in the frame, remaining empty."} +{"subtask_index": 1982, "subtask": "Right hand: reach: Right hand enters from the right edge of the frame and moves left toward the yellow-headed wooden hammer placed on the black mat."} +{"subtask_index": 1983, "subtask": "Right hand: grasp: Right hand contacts the wooden handle of the yellow-headed hammer, fingers close around the handle to adjust and establish stable grip."} +{"subtask_index": 1984, "subtask": "Right hand: grasp: Right hand adjusts its grasp on the yellow hammer with wooden handle on the black table surface."} +{"subtask_index": 1985, "subtask": "Right hand: lift_transport: Right hand lifts the yellow hammer from the black table and transports it leftward to the area above the wooden peg board."} +{"subtask_index": 1986, "subtask": "Right hand: press: Right hand presses the green peg with the held yellow hammer, moving downward vertically to apply pressure."} +{"subtask_index": 1987, "subtask": "Right hand: hold: Right hand holds the yellow hammer pressed on the green peg without moving."} +{"subtask_index": 1988, "subtask": "Right hand: transport: Right hand moves the held yellow hammer upward away from the green peg."} +{"subtask_index": 1989, "subtask": "Right hand: press: Right hand presses the green peg with the held yellow hammer again, moving downward vertically to apply pressure."} +{"subtask_index": 1990, "subtask": "Right hand: lift: Right hand lifts the yellow hammer with wooden handle from the wooden bracket."} +{"subtask_index": 1991, "subtask": "Right hand: transport: Right hand transports the yellow hammer rightwards above the black mat."} +{"subtask_index": 1992, "subtask": "Right hand: release: Right hand releases the yellow hammer and moves away from the hammer."} +{"subtask_index": 1993, "subtask": "Right hand: grasp: Right hand grasps the yellow head of the wooden hammer on the right side of the black mat."} +{"subtask_index": 1994, "subtask": "Right hand: reach: Right hand enters from the upper right of the frame and moves toward the yellow hammer on the black mat to the right of the wooden peg toy."} +{"subtask_index": 1995, "subtask": "Right hand: grasp: Right hand closes its fingers around the wooden handle of the yellow hammer to establish a stable grasp."} +{"subtask_index": 1996, "subtask": "Right hand: grasp: Right hand adjusts its fingers to form a stable grasp on the yellow hammer placed on the black mat."} +{"subtask_index": 1997, "subtask": "Right hand: lift: Right hand lifts the yellow hammer upwards until it completely leaves the black mat support surface."} +{"subtask_index": 1998, "subtask": "Right hand: transport: Right hand transports the yellow hammer leftwards to the position above the wooden peg board."} +{"subtask_index": 1999, "subtask": "Right hand: hold: Right hand holds the yellow hammer with wooden handle without moving."} +{"subtask_index": 2000, "subtask": "Right hand: other:hammer_green_peg: Right hand moves the yellow hammer up and down repeatedly to hit the green peg on the wooden base."} +{"subtask_index": 2001, "subtask": "Right hand: transport: Right hand transports the yellow hammer with a wooden handle rightward above the black textured mat."} +{"subtask_index": 2002, "subtask": "Right hand: place_release: Right hand places the yellow hammer onto the black textured mat and releases its grip on the hammer."} +{"subtask_index": 2003, "subtask": "Right hand: retreat: Right hand retreats upward away from the placed yellow hammer."} +{"subtask_index": 2004, "subtask": "Right hand: grasp: Right hand closes fingers to grasp the yellow hammer with wooden handle on the right side of the black mat."} +{"subtask_index": 2005, "subtask": "Right hand: lift_transport: Right hand lifts the yellow hammer from the black mat and transports it leftward towards the wooden peg board."} +{"subtask_index": 2006, "subtask": "Left hand: idle: Left hand remains empty on the left edge of the frame without moving. | Right hand: idle: Right hand remains empty at the top right of the frame without moving."} +{"subtask_index": 2007, "subtask": "Left hand: idle: Left hand remains empty on the left edge of the frame without moving. | Right hand: reach: Right hand moves downward from the top right of the frame toward the wooden mallet, approaching the mallet without establishing a grip."} +{"subtask_index": 2008, "subtask": "Left hand: idle: Left hand remains empty on the left edge of the frame without moving. | Right hand: grasp: Right hand closes fingers around the wooden handle of the mallet, adjusting finger positions to establish a stable grip, with the mallet resting on the black supporting surface."} +{"subtask_index": 2009, "subtask": "Left hand: idle: Left hand remains empty on the left edge of the frame without moving. | Right hand: lift: Right hand moves upward while holding the wooden mallet, starting to lift the mallet off the black supporting surface."} +{"subtask_index": 2010, "subtask": "Left hand: idle: Left hand remains empty on the left edge of the frame without moving. | Right hand: lift: Right hand firmly holds the wooden mallet with a yellow head and lifts it upward; the yellow mallet head is raised off the black supporting surface while the wooden handle stays in contact with the surface during this segment."} +{"subtask_index": 2011, "subtask": "Left hand: idle: Left hand remains empty on the left edge of the frame without moving. | Right hand: transport: Right hand carries the fully lifted wooden mallet leftward toward the wooden peg toy, slightly rotating the mallet from a tilted orientation to a near-vertical orientation as it moves."} +{"subtask_index": 2012, "subtask": "Left hand: idle: Left hand remains empty on the left edge of the frame without moving."} +{"subtask_index": 2013, "subtask": "Left hand: idle: Left hand remains empty on the left edge of the frame without moving. | Right hand: grasp: Right hand adjusts its fingers around the wooden mallet handle, gradually closing and repositioning contact points to form a stable grip."} +{"subtask_index": 2014, "subtask": "Left hand: idle: Left hand remains empty on the left edge of the frame without moving. | Right hand: press: Right hand holds the mallet steadily and moves vertically downward to apply pressure, causing the mallet head to strike the red peg mounted on the wooden pegboard."} +{"subtask_index": 2015, "subtask": "Left hand: idle: Left hand remains empty on the left edge of the frame without moving. | Right hand: lift: Right hand holds the wooden mallet, lifts it upward to completely separate it from the wooden toy structure."} +{"subtask_index": 2016, "subtask": "Left hand: idle: Left hand remains empty on the left edge of the frame without moving. | Right hand: transport: Right hand carries the lifted wooden mallet rightward through the air to the area above the right side of the black work surface."} +{"subtask_index": 2017, "subtask": "Left hand: idle: Left hand remains empty on the left edge of the frame without moving. | Right hand: place_release: Right hand lowers the wooden mallet onto the right black work surface until the mallet is fully supported by the surface, fingers open to release contact with the mallet handle."} +{"subtask_index": 2018, "subtask": "Left hand: idle: Left hand remains empty on the left edge of the frame without moving. | Right hand: retreat: Right hand moves empty upward and rightward away from the released mallet on the work surface."} +{"subtask_index": 2019, "subtask": "Left hand: idle: Left hand remains empty on the left edge of the frame without moving. | Right hand: reach: Right hand re-enters the view from the top right edge, moves downward with an empty hand toward the yellow mallet, approaching the target without making contact."} +{"subtask_index": 2020, "subtask": "Right hand: reach: Right hand enters the frame from the top-right edge and moves downward toward the wooden handle of the yellow mallet on the right side of the black mat, remaining empty while approaching the target without establishing a stable grasp."} +{"subtask_index": 2021, "subtask": "Right hand: hold: Right hand holds the wooden mallet handle resting on the black work surface without any observable movement of the hand, fingers or the mallet."} +{"subtask_index": 2022, "subtask": "Right hand: grasp: Right hand adjusts finger positions around the wooden mallet handle, with fingers slightly shifting, repositioning and adjusting contact points to form a stable grip, alongside minor wrist movement."} +{"subtask_index": 2023, "subtask": "Right hand: hold: Right hand holds the wooden mallet handle on the black work surface without observable movement of the hand, fingers or the mallet after grip adjustment."} +{"subtask_index": 2024, "subtask": "Right hand: lift: Right hand holds the wooden mallet resting on the black work surface, then lifts the mallet upward until the entire mallet is fully lifted off the supporting work surface."} +{"subtask_index": 2025, "subtask": "Right hand: transport: Right hand carries the fully lifted wooden mallet and moves it leftward through the air toward the small wooden peg bench."} +{"subtask_index": 2026, "subtask": "Right hand: hold: Right hand holds the wooden mallet stationary above the wooden peg bench, with no visible movement of the hand, fingers or the mallet."} +{"subtask_index": 2027, "subtask": "Right hand: grasp: Right hand adjusts finger contact positions on the wooden mallet handle to stabilize the grip, with the mallet's wooden shaft bottom remaining in contact with the black fabric support surface."} +{"subtask_index": 2028, "subtask": "Right hand: mate: Right hand grips the mallet handle, moves the mallet slightly horizontally across the support surface and rotates it slightly to align the yellow hammerhead with the target hole on the light wooden peg board."} +{"subtask_index": 2029, "subtask": "Right hand: hold: Right hand holds the wooden mallet steady on the black support surface with the yellow hammerhead aligned above the target hole, with no visible movement of the hand or mallet."} +{"subtask_index": 2030, "subtask": "Right hand: grasp: Right hand makes slight adjustments to its grip on the mallet handle and moves the mallet slightly, shifting the hammerhead away from the previously aligned position."} +{"subtask_index": 2031, "subtask": "Right hand: lift: Right hand grips the wooden mallet handle and lifts the mallet upward slightly to clear it from the wooden pegboard support."} +{"subtask_index": 2032, "subtask": "Right hand: transport: Right hand carries the lifted wooden mallet rightward through the air to the position above the right black work surface."} +{"subtask_index": 2033, "subtask": "Right hand: place_release: Right hand lowers the wooden mallet onto the right black work surface until the mallet rests stably on the surface, opening the fingers to release the mallet handle."} +{"subtask_index": 2034, "subtask": "Right hand: retreat: Right hand moves upward away from the resting mallet while empty."} +{"subtask_index": 2035, "subtask": "Right hand: reach_grasp: Right hand enters from the top-right of the frame, moves downward toward the yellow wooden mallet, closes fingers around the mallet's yellow cylindrical head to form a grasp with small positional adjustments of the hand and mallet."} +{"subtask_index": 2036, "subtask": "Right hand: reach: Right hand moves leftward from the right edge of the frame toward the yellow-headed hammer placed on the black mat."} +{"subtask_index": 2037, "subtask": "Right hand: grasp: Right hand touches the handle of the yellow-headed hammer and adjusts fingers to form a stable grasp."} +{"subtask_index": 2038, "subtask": "Right hand: lift: Right hand lifts the yellow hammer upward until it is completely off the black mat."} +{"subtask_index": 2039, "subtask": "Right hand: transport: Right hand moves the yellow hammer leftward to the area above the wooden board with green legs."} +{"subtask_index": 2040, "subtask": "Right hand: hold: Right hand holds the yellow hammer steadily above the wooden board without any movement."} +{"subtask_index": 2041, "subtask": "Right hand: grasp: Right hand adjusts fingers to stably grasp the wooden handle of the yellow hammer."} +{"subtask_index": 2042, "subtask": "Right hand: other:strike_green_peg: Right hand lifts the yellow hammer and strikes the green peg on the wooden toy repeatedly."} +{"subtask_index": 2043, "subtask": "Right hand: hold: Right hand holds the yellow hammer without any observable movement."} +{"subtask_index": 2044, "subtask": "Right hand: transport: Right hand moves the yellow hammer slightly towards the lower left direction."} +{"subtask_index": 2045, "subtask": "Right hand: grasp: Right hand adjusts its grip on the yellow-headed wooden hammer to stabilize the grasp."} +{"subtask_index": 2046, "subtask": "Right hand: lift: Right hand lifts the yellow-headed wooden hammer off the wooden base with green pegs."} +{"subtask_index": 2047, "subtask": "Right hand: transport: Right hand transports the yellow-headed wooden hammer rightward above the black mat surface."} +{"subtask_index": 2048, "subtask": "Right hand: grasp: Right hand grasps the yellow hammer with wooden handle on the black mat to the right of the wooden peg toy."} +{"subtask_index": 2049, "subtask": "Right hand: reach: Right hand moves from the right edge of the frame towards the yellow hammer placed on the black mat."} +{"subtask_index": 2050, "subtask": "Right hand: lift: Right hand lifts the yellow hammer upward from the black mat."} +{"subtask_index": 2051, "subtask": "Right hand: grasp: Right hand adjusts its grasp on the wooden handle of the yellow hammer placed on the black table."} +{"subtask_index": 2052, "subtask": "Right hand: lift: Right hand lifts the yellow hammer off the black table surface."} +{"subtask_index": 2053, "subtask": "Right hand: transport: Right hand transports the yellow hammer to the position above the wooden peg bench."} +{"subtask_index": 2054, "subtask": "Right hand: press: Right hand presses the green peg on the wooden board with the yellow hammer."} +{"subtask_index": 2055, "subtask": "Right hand: hold: Right hand holds the yellow hammer pressing on the green peg without moving."} +{"subtask_index": 2056, "subtask": "Right hand: transport: Right hand lifts the yellow hammer upward away from the green peg."} +{"subtask_index": 2057, "subtask": "Right hand: transport: Right hand lifts the yellow hammer upward slightly away from the red peg."} +{"subtask_index": 2058, "subtask": "Right hand: press: Right hand presses the red peg on the wooden board with the yellow hammer again."} +{"subtask_index": 2059, "subtask": "Right hand: transport: Right hand lifts the yellow hammer upward away from the red peg."} +{"subtask_index": 2060, "subtask": "Right hand: transport: Right hand lifts the yellow hammer upward slightly away from the green peg."} +{"subtask_index": 2061, "subtask": "Right hand: grasp: Right hand adjusts its grasp on the yellow hammer with wooden handle on the wooden board with green legs."} +{"subtask_index": 2062, "subtask": "Right hand: lift: Right hand lifts the yellow hammer off the wooden board."} +{"subtask_index": 2063, "subtask": "Right hand: place_release: Right hand places the yellow hammer onto the right area of the black mat and releases its grasp on the hammer."} +{"subtask_index": 2064, "subtask": "Right hand: grasp: Right hand grasps the yellow mallet on the right area of the black mat, adjusting fingers to form a stable grip."} diff --git a/hammer_nails/season_POC22048_2026_05_22_10_21_37_train/lerobot_v2.1/meta/tasks.jsonl b/hammer_nails/season_POC22048_2026_05_22_10_21_37_train/lerobot_v2.1/meta/tasks.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c11396e72cdc5dee90ef3aee56bb0f223b8d35c6 --- /dev/null +++ b/hammer_nails/season_POC22048_2026_05_22_10_21_37_train/lerobot_v2.1/meta/tasks.jsonl @@ -0,0 +1,2 @@ +{"task_index": 0, "task": "Task: Hammer Nails | Instruction: Pick up the hammer with the right hand. 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